Autonomous surface vehicle (ASV) is a vehicle in the form of an unmanned on-water surface vessel that can move automatically. As such, an automatic control system is essentially required. The bow thruster system functions as a propulsion control device in its operations. In this research, the water momentum and propeller velocity were estimated based on the dynamic bow thruster model. The estimation methods used is the Kalman filter (KF) and ensemble Kalman filter (EnKF). There are two scenarios: tunnel thruster condition and open-bladed thruster condition. The estimation results in the tunnel thruster condition showed that the root mean square error (RMSE) by the EnKF method was relatively smaller, that is, 0.7920 and 0.1352, while the estimation results in the open-bladed thruster condition showed that the RMSE by the KF method was relatively smaller, that is, 1.9957 and 2.0609.
Adaptive backstepping control for ship nonlinear active fin system based on ...IJECEIAES
Adaptive backstepping control based on disturbance observer and neural network for ship nonlinear active fin system is proposed. One disturbance observer is given to observe the disturbances of the system, by this way, the response time is shorten and the negative impact of disturbance and uncertain elements of the system is reduced. In addition, radial basic function neural network (RBFNN) is proposed to approach the unknown elements in the ship nonlinear active fin system, therefor the system can obtain good roll reduction effectiveness and overcome the uncertainties of the model, the designed controller can maintain the ship roll angle at desired value. Finally, the simulation results are given for a supply vessel to verify the successfulness of the proposed controller.
NUMERICAL STUDY OF FLUID FLOW AROUND A DIVER HELPERijmech
Having access to high speed diving without the use of mechanical science and discovery centers have been
considered. Production of simple, yet effective tool to reduce energy consumption and associated diver is
very valuable. Assistant diver device that works with human muscle power, includes a pair of ballets. This
system reduces the energy required to dive to less than half as the speed increases to 2 to 5 knot. Using
numerical methods can answer a lot of questions and a simulation of the dynamic behavior of the device. In
this article, modeling of fluid flow around the Diver helper of FLUENT software and using Dynamic Mesh
have been done.
Flow lines show an increase in the angle of the fins and causes development of vortices behind them.
Pressure Cantor can also be used in the analysis of the fins. The drag coefficient ballet based on the device
at various angles in a period is reported in charts.
The optimal control system of the ship based on the linear quadratic regular ...IJECEIAES
In this paper, the authors propose an optimal controller for the ship motion. Firstly, the model and dynamic equations of the ship motion are presented. Basing on the motion equations of ship model, the authors build the linear quadratic regular algorithm-based control system of ship motion to minimize difference between the response coordinate and the setting-coordinate. The task of the controller is controlling the ship coordinate to coincide with the desired coordinate. The ship model and controller are built to investigate the system quality through Matlab-Simulink software. The results show the high quality of the control system. The coordinate of a ship always follows the desired coordinate with very small errors.
Head Loss Estimation for Water Jets from Flip Bucketstheijes
Water jet issued from flip bucket at the end of the spillway of a dam can be a threat for the stability and safety of the dam body due to subsequent scour at the impingement point. However, a strong jet from the flip bucket interacts with the surrounding air and develops into an aerated turbulent jet while the jet impact and scouring effect is reduced significantly. Aeration of the jet, at the same time, cause head losses along the trajectory. An experimental study is conducted to measure the trajectory lengths and investigate the effect of water depth in the river on the dynamic pressures acted on the river bed. The trajectory lengths with and without air entrainment are calculated using empirical equations and compared with the measurements. Head losses due to air entrainment are determined using the difference of the trajectory lengths with and without aeration, based on the projectile motion theory. Numerical simulation of the flow over the spillway, along the flip bucket and the jet trajectory is made and the results are compared with the experimental data. It is observed that trajectory lengths obtained from experiments, numerical simulation and empirical formulas are comparable with negligible differences. This allows us to combine alternate approaches to determine the trajectory lengths with and without air entrainment and estimate the head losses accordingly.
International Journal of Engineering and Science Invention (IJESI)inventionjournals
International Journal of Engineering and Science Invention (IJESI) is an international journal intended for professionals and researchers in all fields of computer science and electronics. IJESI publishes research articles and reviews within the whole field Engineering Science and Technology, new teaching methods, assessment, validation and the impact of new technologies and it will continue to provide information on the latest trends and developments in this ever-expanding subject. The publications of papers are selected through double peer reviewed to ensure originality, relevance, and readability. The articles published in our journal can be accessed online.
Adaptive backstepping control for ship nonlinear active fin system based on ...IJECEIAES
Adaptive backstepping control based on disturbance observer and neural network for ship nonlinear active fin system is proposed. One disturbance observer is given to observe the disturbances of the system, by this way, the response time is shorten and the negative impact of disturbance and uncertain elements of the system is reduced. In addition, radial basic function neural network (RBFNN) is proposed to approach the unknown elements in the ship nonlinear active fin system, therefor the system can obtain good roll reduction effectiveness and overcome the uncertainties of the model, the designed controller can maintain the ship roll angle at desired value. Finally, the simulation results are given for a supply vessel to verify the successfulness of the proposed controller.
NUMERICAL STUDY OF FLUID FLOW AROUND A DIVER HELPERijmech
Having access to high speed diving without the use of mechanical science and discovery centers have been
considered. Production of simple, yet effective tool to reduce energy consumption and associated diver is
very valuable. Assistant diver device that works with human muscle power, includes a pair of ballets. This
system reduces the energy required to dive to less than half as the speed increases to 2 to 5 knot. Using
numerical methods can answer a lot of questions and a simulation of the dynamic behavior of the device. In
this article, modeling of fluid flow around the Diver helper of FLUENT software and using Dynamic Mesh
have been done.
Flow lines show an increase in the angle of the fins and causes development of vortices behind them.
Pressure Cantor can also be used in the analysis of the fins. The drag coefficient ballet based on the device
at various angles in a period is reported in charts.
The optimal control system of the ship based on the linear quadratic regular ...IJECEIAES
In this paper, the authors propose an optimal controller for the ship motion. Firstly, the model and dynamic equations of the ship motion are presented. Basing on the motion equations of ship model, the authors build the linear quadratic regular algorithm-based control system of ship motion to minimize difference between the response coordinate and the setting-coordinate. The task of the controller is controlling the ship coordinate to coincide with the desired coordinate. The ship model and controller are built to investigate the system quality through Matlab-Simulink software. The results show the high quality of the control system. The coordinate of a ship always follows the desired coordinate with very small errors.
Head Loss Estimation for Water Jets from Flip Bucketstheijes
Water jet issued from flip bucket at the end of the spillway of a dam can be a threat for the stability and safety of the dam body due to subsequent scour at the impingement point. However, a strong jet from the flip bucket interacts with the surrounding air and develops into an aerated turbulent jet while the jet impact and scouring effect is reduced significantly. Aeration of the jet, at the same time, cause head losses along the trajectory. An experimental study is conducted to measure the trajectory lengths and investigate the effect of water depth in the river on the dynamic pressures acted on the river bed. The trajectory lengths with and without air entrainment are calculated using empirical equations and compared with the measurements. Head losses due to air entrainment are determined using the difference of the trajectory lengths with and without aeration, based on the projectile motion theory. Numerical simulation of the flow over the spillway, along the flip bucket and the jet trajectory is made and the results are compared with the experimental data. It is observed that trajectory lengths obtained from experiments, numerical simulation and empirical formulas are comparable with negligible differences. This allows us to combine alternate approaches to determine the trajectory lengths with and without air entrainment and estimate the head losses accordingly.
International Journal of Engineering and Science Invention (IJESI)inventionjournals
International Journal of Engineering and Science Invention (IJESI) is an international journal intended for professionals and researchers in all fields of computer science and electronics. IJESI publishes research articles and reviews within the whole field Engineering Science and Technology, new teaching methods, assessment, validation and the impact of new technologies and it will continue to provide information on the latest trends and developments in this ever-expanding subject. The publications of papers are selected through double peer reviewed to ensure originality, relevance, and readability. The articles published in our journal can be accessed online.
Application of fuzzy controllers in automatic ship motion control systemsIJECEIAES
Automatic ship heading control is a part of the automatic navigation system. It is charged with the task of maintaining the actual ship’s course angle or actual ship’s course without human intervention in accordance with the set course or setting parameter and maintaining this condition under the effect of disturbing influences. Thus, the corrective influence on deviations from a course can be rendered by the position of a rudder or controlling influence that leads to the rotary movement of a vessel around a vertical axis that represents a problem, which can be solved with the use of fuzzy logic. In this paper, we propose to consider the estimation of the efficiency of fuzzy controllers in systems of automatic control of ship movement, obtained by analysis of a method of the formalized record of a logic conclusion and structure of the fuzzy controller. The realization of this allows to carry out effective stabilization of a course angle of a vessel taking into account existing restrictions.
Numerical study of disk drive rotating flow structure in the cavityeSAT Journals
Abstract
This paper aim in conducting the numerical simulation of laminar flow to explore disk-driven vortical flow structure of a cubical
container subjected to a disk rotation on the roof of the container in different Reynolds numbers to observe the flow structure and
the reason of vortical flow form. For this study, finite difference method with dispersion-relation- preserving (DRP) scheme is
dispersed governing equations space term, but adopt time term with TVD Runge-Kutta method. To add accuracy of numerical,
this thesis also uses topology theory to analyze the characteristic of singular point. Three-dimensional vertical flow is observed
flow structure and move to condition. The result to obtain Reynolds numbers to increase attracting spiral nodes increasingly
approaches the floor of the cavity. We have also depicted the vertical flow structure in terms of cortex cores which provide more
details about how change of the Reynolds number
Keywords: disk-driven, finite difference method, dispersion-relation-preserving (DRP), Runge-Kutta, topology theory
PID vs LQR controller for tilt rotor airplane IJECEIAES
The main thematic of this paper is controlling the main manoeuvers of a tilt rotor UAV airplane in several modes such as vertical takeoff and landing, longitudinal translation and the most important phase which deal with the transition from the helicopter mode to the airplane mode and visversa based on a new actuators combination technique for specially the yaw motion with not referring to rotor speed control strategy which is used in controlling the attitude of a huge number of vehicles nowadays. This new actuator combination is inspired from that the transient response of a trirotor using tilting motion dynamics provides a faster response than using rotor speed dynamics. In the literature, a lot of control technics are used for stabilizing and guarantee the necessary manoeuvers for executing such task, a multiple Attitude and Altitude PID controllers were chosen for a simple linear model of our tilt rotor airplane in order to fulfill the desired trajectory, for reasons of complexity of our model the multiple PID controller doesnt take into consideration all the coupling that exists between the degrees of freedom in our model, so an LQR controller is adopted for more feasible solution of complex manoeuvering, the both controllers need linearization of the model for an easy implementation.
Development of Seakeeping Test and Data Processing Systemijceronline
International Journal of Computational Engineering Research (IJCER) is dedicated to protecting personal information and will make every reasonable effort to handle collected information appropriately. All information collected, as well as related requests, will be handled as carefully and efficiently as possible in accordance with IJCER standards for integrity and objectivity.
The need for high pump performance and efficiency continue to encourage the study of flow between two parallel co-rotating discs in multiple discs pump or turbine. Therefore, this study entails the design, construction and CFD simulation of a 3D Tesla pump model axisymmetric swirling flow in order to enhance the understanding of Tesla pump for future development.
Method of solution entails designing and construction of a small prototype tesla pump and then using the design geometry and parameters to design and perform numerical simulation. The results of the numerical simulation were then analyzed.
The result obtained indicates static pressure to have minimum value of -4.7791Pa at the outlet and 13.777Pa at the pump inlet and with velocity magnitude having minimum velocity of 0.00m/s and maximum velocity of 4.12m/s. The strength of the velocity was seen to be very high at the pump outlet. The analysis radial velocity showed minimum value of -0.508m/s and maximum value of 3.981m/s with the radial velocity vector being concentrated at the discs periphery and outlet.
Model simulation results exhibited smooth pressure and velocity profiles. With the 3D simulation all flow variables are able to be predicted.
The need for high pump performance and efficiency continue to encourage the study of flow between two parallel co-rotating discs in multiple discs pump or turbine. Therefore, this study entails the design, construction and CFD simulation of a 3D Tesla pump model axisymmetric swirling flow in order to enhance the understanding of Tesla pump for future development.
Method of solution entails designing and construction of a small prototype tesla pump and then using the design geometry and parameters to design and perform numerical simulation. The results of the numerical simulation were then analyzed.
The result obtained indicates static pressure to have minimum value of -4.7791Pa at the outlet and 13.777Pa at the pump inlet and with velocity magnitude having minimum velocity of 0.00m/s and maximum velocity of 4.12m/s. The strength of the velocity was seen to be very high at the pump outlet. The analysis radial velocity showed minimum value of -0.508m/s and maximum value of 3.981m/s with the radial velocity vector being concentrated at the discs periphery and outlet.
Model simulation results exhibited smooth pressure and velocity profiles. With the 3D simulation all flow variables are able to be predicted.
This paper deals with the numerical analysis of 3d model which has inlet port diameter 46mm,valve diameter 43mm and the length and diameter of the cy linder is 562mm and 93.65mm respectively which is developed to study the effect of valve lif t on the flow of fluid inside the cylinder. For different valve lifts velocity will change inside t he cylinder. Results of CFD simulation indicated th at valve lift affects velocity flow field inside the c ylinder. It also proved that CFD is a convenient to ol for designing and optimizing the flow field in the engine.
Experimental investigation of stepped aerofoil using propeller test rigeSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
● Enhancing Friction Stir Welding in Fishing Boat Construction through Deep Learning-Based Optimization
● Assist in GHG Abatement of Offshore Ships: Design and Economic Analysis of an Integrated Utilization Model of Hydrogen-Powered Ship and Offshore Wind Power
● Dynamic Assessment of OWT under Coupled Seismic and Sea-wave Motions
● Design Basis Considerations for the Design of Floating Offshore Wind Turbines
● Numerical Simulations of the Pitching Airfoil by Using Discrete Vortex Method
● Offshore Fish Farming: Challenges and Recent Advancements
An improved swarm intelligence algorithms-based nonlinear fractional order-PI...TELKOMNIKA JOURNAL
This paper presents a nonlinear fractional order proportional integral derivative (NL-FOPID) for autonomous underwater vehicle (AUV) to solve the path tracking problem under the unknown disturbances (model uncertainty or external disturbances). The considered controller schemes are tuned by two improved swarm intelligence optimization algorithms, the first on is the hybrid grey wolf optimization with simulated annealing (HGWO-SA) algorithm and an improved whale optimization algorithm (IWOA). The developed algorithms are assessed using a set of benchmark function (unimodal, multimodal, and fixed dimension multimodal functions) to guarantee the effectiveness of both proposed swarm algorithms. The HGWO-SA algorithm is used as a tuning method for the AUV system controlled by NL-FOPID scheme, and the IWOA is used as a tuning algorithm to obtain the PID controller’s parameters. The evaluation results show that the HGWO-SA algorithm improved the minimal point of the tested benchmark functions by 1-200 order, while the IWOA improved the minimum point by (1-50) order. Finally, the obtained simulation results from the system operated with NL-FOPID shows the competence in terms of the path tracking by 1-15% as compared to the PID method.
UNMANNED SURFACE VEHICLE (USV) FOR COASTAL SURVEILLANCEIAEME Publication
The purpose of this paper is to design and fabricate an unmanned surface vehicle (USV) for the coastal surveillance for the maritime of India. It aims to monitor territorial waters on a round-the-clock basis and allows the intelligence to take appropriate action to prevent terrorism, illegal smuggling and human trafficking as the continuous use of an aircraft for surveillance is prohibitively expensive along the Indian coastline which is a massive stretch measuring 7,517km.In this paper an Air Cushioned Vehicle (ACV) popularly known as a Hovercraft is chosen for surveillance as it has the ability to traverse any surface compared to other coastguard vessels thereby earning the title of amphibious boats. Its ability to access 75% of littoral allows them to come on shore during emergencies unlike conventional coastguards that have only 5% littoral access and cannot enter shallow water.
Velocity control of ROV using modified integral SMC with optimization tuning ...TELKOMNIKA JOURNAL
Remotely Operated Vehicle also known as ROV is a vehicle with high nonlinearity and uncertainty parameters that requires a robust control system to maintain stability. The nonlinearity and uncertainty of ROV are caused by underwater environmental conditions and by the movement of the vehicle. SMC is one of the control systems that can overcome nonlinearity and uncertainty with the given robust system. This work aims to control velocity of the vehicle with proposes the use of modified integral SMC compensate error in ROV and the use of particle swarm optimization (PSO) to optimize the adjustment of SMC parameters. The ROV used in this paper has a configuration of six thrusters with five DoF movements that can be controlled. Modified integral sliding mode is used to control all force direction to increase the convergence of speed error. Adjustment optimization techniques with PSO are used to determine four values of sliding control parameters for five DoF. Using Lyapunov stability approach control law of sliding mode is derived and its global stability proved mathematically. Simulation results are conducted to evaluate the effectiveness of Modified Integral SMC and compared with nonlinear control.
Development of a floating tow body for shallow water bottom and sub bottom im...eSAT Journals
Abstract
A floating tow body which can be towed at a speed range of 2-6 knots with a pay load of 50 kg is designed and tested as part of the development of a Buried Object Location Sonar (BOLS) for shallow water imaging application. In this paper the results of extensive towing tank measurements of a floating tow body with the diamond and a cross shaped bow are presented and compared. A cross shaped bow with a stream lined body shape is adopted for the floating tow body for minimizing the drag as well as the turbulence during the tow. Both the bow shape as well as the dimensions of the body is optimized based on the towing tank experimental results so that the body can be towed smoothly with minimum turbulence to avoid acoustic noise generation during the SONAR tests. An iterative experimental procedure is carried out in finalizing the dimensions and the shape of the tow body.
Keywords: Floating tow body, bow shape, towing test.
Bibliometric analysis highlighting the role of women in addressing climate ch...IJECEIAES
Fossil fuel consumption increased quickly, contributing to climate change
that is evident in unusual flooding and draughts, and global warming. Over
the past ten years, women's involvement in society has grown dramatically,
and they succeeded in playing a noticeable role in reducing climate change.
A bibliometric analysis of data from the last ten years has been carried out to
examine the role of women in addressing the climate change. The analysis's
findings discussed the relevant to the sustainable development goals (SDGs),
particularly SDG 7 and SDG 13. The results considered contributions made
by women in the various sectors while taking geographic dispersion into
account. The bibliometric analysis delves into topics including women's
leadership in environmental groups, their involvement in policymaking, their
contributions to sustainable development projects, and the influence of
gender diversity on attempts to mitigate climate change. This study's results
highlight how women have influenced policies and actions related to climate
change, point out areas of research deficiency and recommendations on how
to increase role of the women in addressing the climate change and
achieving sustainability. To achieve more successful results, this initiative
aims to highlight the significance of gender equality and encourage
inclusivity in climate change decision-making processes.
Voltage and frequency control of microgrid in presence of micro-turbine inter...IJECEIAES
The active and reactive load changes have a significant impact on voltage
and frequency. In this paper, in order to stabilize the microgrid (MG) against
load variations in islanding mode, the active and reactive power of all
distributed generators (DGs), including energy storage (battery), diesel
generator, and micro-turbine, are controlled. The micro-turbine generator is
connected to MG through a three-phase to three-phase matrix converter, and
the droop control method is applied for controlling the voltage and
frequency of MG. In addition, a method is introduced for voltage and
frequency control of micro-turbines in the transition state from gridconnected mode to islanding mode. A novel switching strategy of the matrix
converter is used for converting the high-frequency output voltage of the
micro-turbine to the grid-side frequency of the utility system. Moreover,
using the switching strategy, the low-order harmonics in the output current
and voltage are not produced, and consequently, the size of the output filter
would be reduced. In fact, the suggested control strategy is load-independent
and has no frequency conversion restrictions. The proposed approach for
voltage and frequency regulation demonstrates exceptional performance and
favorable response across various load alteration scenarios. The suggested
strategy is examined in several scenarios in the MG test systems, and the
simulation results are addressed.
More Related Content
Similar to Estimation of water momentum and propeller velocity in bow thruster model of autonomous surface vehicle using modified Kalman filter
Application of fuzzy controllers in automatic ship motion control systemsIJECEIAES
Automatic ship heading control is a part of the automatic navigation system. It is charged with the task of maintaining the actual ship’s course angle or actual ship’s course without human intervention in accordance with the set course or setting parameter and maintaining this condition under the effect of disturbing influences. Thus, the corrective influence on deviations from a course can be rendered by the position of a rudder or controlling influence that leads to the rotary movement of a vessel around a vertical axis that represents a problem, which can be solved with the use of fuzzy logic. In this paper, we propose to consider the estimation of the efficiency of fuzzy controllers in systems of automatic control of ship movement, obtained by analysis of a method of the formalized record of a logic conclusion and structure of the fuzzy controller. The realization of this allows to carry out effective stabilization of a course angle of a vessel taking into account existing restrictions.
Numerical study of disk drive rotating flow structure in the cavityeSAT Journals
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This paper aim in conducting the numerical simulation of laminar flow to explore disk-driven vortical flow structure of a cubical
container subjected to a disk rotation on the roof of the container in different Reynolds numbers to observe the flow structure and
the reason of vortical flow form. For this study, finite difference method with dispersion-relation- preserving (DRP) scheme is
dispersed governing equations space term, but adopt time term with TVD Runge-Kutta method. To add accuracy of numerical,
this thesis also uses topology theory to analyze the characteristic of singular point. Three-dimensional vertical flow is observed
flow structure and move to condition. The result to obtain Reynolds numbers to increase attracting spiral nodes increasingly
approaches the floor of the cavity. We have also depicted the vertical flow structure in terms of cortex cores which provide more
details about how change of the Reynolds number
Keywords: disk-driven, finite difference method, dispersion-relation-preserving (DRP), Runge-Kutta, topology theory
PID vs LQR controller for tilt rotor airplane IJECEIAES
The main thematic of this paper is controlling the main manoeuvers of a tilt rotor UAV airplane in several modes such as vertical takeoff and landing, longitudinal translation and the most important phase which deal with the transition from the helicopter mode to the airplane mode and visversa based on a new actuators combination technique for specially the yaw motion with not referring to rotor speed control strategy which is used in controlling the attitude of a huge number of vehicles nowadays. This new actuator combination is inspired from that the transient response of a trirotor using tilting motion dynamics provides a faster response than using rotor speed dynamics. In the literature, a lot of control technics are used for stabilizing and guarantee the necessary manoeuvers for executing such task, a multiple Attitude and Altitude PID controllers were chosen for a simple linear model of our tilt rotor airplane in order to fulfill the desired trajectory, for reasons of complexity of our model the multiple PID controller doesnt take into consideration all the coupling that exists between the degrees of freedom in our model, so an LQR controller is adopted for more feasible solution of complex manoeuvering, the both controllers need linearization of the model for an easy implementation.
Development of Seakeeping Test and Data Processing Systemijceronline
International Journal of Computational Engineering Research (IJCER) is dedicated to protecting personal information and will make every reasonable effort to handle collected information appropriately. All information collected, as well as related requests, will be handled as carefully and efficiently as possible in accordance with IJCER standards for integrity and objectivity.
The need for high pump performance and efficiency continue to encourage the study of flow between two parallel co-rotating discs in multiple discs pump or turbine. Therefore, this study entails the design, construction and CFD simulation of a 3D Tesla pump model axisymmetric swirling flow in order to enhance the understanding of Tesla pump for future development.
Method of solution entails designing and construction of a small prototype tesla pump and then using the design geometry and parameters to design and perform numerical simulation. The results of the numerical simulation were then analyzed.
The result obtained indicates static pressure to have minimum value of -4.7791Pa at the outlet and 13.777Pa at the pump inlet and with velocity magnitude having minimum velocity of 0.00m/s and maximum velocity of 4.12m/s. The strength of the velocity was seen to be very high at the pump outlet. The analysis radial velocity showed minimum value of -0.508m/s and maximum value of 3.981m/s with the radial velocity vector being concentrated at the discs periphery and outlet.
Model simulation results exhibited smooth pressure and velocity profiles. With the 3D simulation all flow variables are able to be predicted.
The need for high pump performance and efficiency continue to encourage the study of flow between two parallel co-rotating discs in multiple discs pump or turbine. Therefore, this study entails the design, construction and CFD simulation of a 3D Tesla pump model axisymmetric swirling flow in order to enhance the understanding of Tesla pump for future development.
Method of solution entails designing and construction of a small prototype tesla pump and then using the design geometry and parameters to design and perform numerical simulation. The results of the numerical simulation were then analyzed.
The result obtained indicates static pressure to have minimum value of -4.7791Pa at the outlet and 13.777Pa at the pump inlet and with velocity magnitude having minimum velocity of 0.00m/s and maximum velocity of 4.12m/s. The strength of the velocity was seen to be very high at the pump outlet. The analysis radial velocity showed minimum value of -0.508m/s and maximum value of 3.981m/s with the radial velocity vector being concentrated at the discs periphery and outlet.
Model simulation results exhibited smooth pressure and velocity profiles. With the 3D simulation all flow variables are able to be predicted.
This paper deals with the numerical analysis of 3d model which has inlet port diameter 46mm,valve diameter 43mm and the length and diameter of the cy linder is 562mm and 93.65mm respectively which is developed to study the effect of valve lif t on the flow of fluid inside the cylinder. For different valve lifts velocity will change inside t he cylinder. Results of CFD simulation indicated th at valve lift affects velocity flow field inside the c ylinder. It also proved that CFD is a convenient to ol for designing and optimizing the flow field in the engine.
Experimental investigation of stepped aerofoil using propeller test rigeSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
● Enhancing Friction Stir Welding in Fishing Boat Construction through Deep Learning-Based Optimization
● Assist in GHG Abatement of Offshore Ships: Design and Economic Analysis of an Integrated Utilization Model of Hydrogen-Powered Ship and Offshore Wind Power
● Dynamic Assessment of OWT under Coupled Seismic and Sea-wave Motions
● Design Basis Considerations for the Design of Floating Offshore Wind Turbines
● Numerical Simulations of the Pitching Airfoil by Using Discrete Vortex Method
● Offshore Fish Farming: Challenges and Recent Advancements
An improved swarm intelligence algorithms-based nonlinear fractional order-PI...TELKOMNIKA JOURNAL
This paper presents a nonlinear fractional order proportional integral derivative (NL-FOPID) for autonomous underwater vehicle (AUV) to solve the path tracking problem under the unknown disturbances (model uncertainty or external disturbances). The considered controller schemes are tuned by two improved swarm intelligence optimization algorithms, the first on is the hybrid grey wolf optimization with simulated annealing (HGWO-SA) algorithm and an improved whale optimization algorithm (IWOA). The developed algorithms are assessed using a set of benchmark function (unimodal, multimodal, and fixed dimension multimodal functions) to guarantee the effectiveness of both proposed swarm algorithms. The HGWO-SA algorithm is used as a tuning method for the AUV system controlled by NL-FOPID scheme, and the IWOA is used as a tuning algorithm to obtain the PID controller’s parameters. The evaluation results show that the HGWO-SA algorithm improved the minimal point of the tested benchmark functions by 1-200 order, while the IWOA improved the minimum point by (1-50) order. Finally, the obtained simulation results from the system operated with NL-FOPID shows the competence in terms of the path tracking by 1-15% as compared to the PID method.
UNMANNED SURFACE VEHICLE (USV) FOR COASTAL SURVEILLANCEIAEME Publication
The purpose of this paper is to design and fabricate an unmanned surface vehicle (USV) for the coastal surveillance for the maritime of India. It aims to monitor territorial waters on a round-the-clock basis and allows the intelligence to take appropriate action to prevent terrorism, illegal smuggling and human trafficking as the continuous use of an aircraft for surveillance is prohibitively expensive along the Indian coastline which is a massive stretch measuring 7,517km.In this paper an Air Cushioned Vehicle (ACV) popularly known as a Hovercraft is chosen for surveillance as it has the ability to traverse any surface compared to other coastguard vessels thereby earning the title of amphibious boats. Its ability to access 75% of littoral allows them to come on shore during emergencies unlike conventional coastguards that have only 5% littoral access and cannot enter shallow water.
Velocity control of ROV using modified integral SMC with optimization tuning ...TELKOMNIKA JOURNAL
Remotely Operated Vehicle also known as ROV is a vehicle with high nonlinearity and uncertainty parameters that requires a robust control system to maintain stability. The nonlinearity and uncertainty of ROV are caused by underwater environmental conditions and by the movement of the vehicle. SMC is one of the control systems that can overcome nonlinearity and uncertainty with the given robust system. This work aims to control velocity of the vehicle with proposes the use of modified integral SMC compensate error in ROV and the use of particle swarm optimization (PSO) to optimize the adjustment of SMC parameters. The ROV used in this paper has a configuration of six thrusters with five DoF movements that can be controlled. Modified integral sliding mode is used to control all force direction to increase the convergence of speed error. Adjustment optimization techniques with PSO are used to determine four values of sliding control parameters for five DoF. Using Lyapunov stability approach control law of sliding mode is derived and its global stability proved mathematically. Simulation results are conducted to evaluate the effectiveness of Modified Integral SMC and compared with nonlinear control.
Development of a floating tow body for shallow water bottom and sub bottom im...eSAT Journals
Abstract
A floating tow body which can be towed at a speed range of 2-6 knots with a pay load of 50 kg is designed and tested as part of the development of a Buried Object Location Sonar (BOLS) for shallow water imaging application. In this paper the results of extensive towing tank measurements of a floating tow body with the diamond and a cross shaped bow are presented and compared. A cross shaped bow with a stream lined body shape is adopted for the floating tow body for minimizing the drag as well as the turbulence during the tow. Both the bow shape as well as the dimensions of the body is optimized based on the towing tank experimental results so that the body can be towed smoothly with minimum turbulence to avoid acoustic noise generation during the SONAR tests. An iterative experimental procedure is carried out in finalizing the dimensions and the shape of the tow body.
Keywords: Floating tow body, bow shape, towing test.
Similar to Estimation of water momentum and propeller velocity in bow thruster model of autonomous surface vehicle using modified Kalman filter (20)
Bibliometric analysis highlighting the role of women in addressing climate ch...IJECEIAES
Fossil fuel consumption increased quickly, contributing to climate change
that is evident in unusual flooding and draughts, and global warming. Over
the past ten years, women's involvement in society has grown dramatically,
and they succeeded in playing a noticeable role in reducing climate change.
A bibliometric analysis of data from the last ten years has been carried out to
examine the role of women in addressing the climate change. The analysis's
findings discussed the relevant to the sustainable development goals (SDGs),
particularly SDG 7 and SDG 13. The results considered contributions made
by women in the various sectors while taking geographic dispersion into
account. The bibliometric analysis delves into topics including women's
leadership in environmental groups, their involvement in policymaking, their
contributions to sustainable development projects, and the influence of
gender diversity on attempts to mitigate climate change. This study's results
highlight how women have influenced policies and actions related to climate
change, point out areas of research deficiency and recommendations on how
to increase role of the women in addressing the climate change and
achieving sustainability. To achieve more successful results, this initiative
aims to highlight the significance of gender equality and encourage
inclusivity in climate change decision-making processes.
Voltage and frequency control of microgrid in presence of micro-turbine inter...IJECEIAES
The active and reactive load changes have a significant impact on voltage
and frequency. In this paper, in order to stabilize the microgrid (MG) against
load variations in islanding mode, the active and reactive power of all
distributed generators (DGs), including energy storage (battery), diesel
generator, and micro-turbine, are controlled. The micro-turbine generator is
connected to MG through a three-phase to three-phase matrix converter, and
the droop control method is applied for controlling the voltage and
frequency of MG. In addition, a method is introduced for voltage and
frequency control of micro-turbines in the transition state from gridconnected mode to islanding mode. A novel switching strategy of the matrix
converter is used for converting the high-frequency output voltage of the
micro-turbine to the grid-side frequency of the utility system. Moreover,
using the switching strategy, the low-order harmonics in the output current
and voltage are not produced, and consequently, the size of the output filter
would be reduced. In fact, the suggested control strategy is load-independent
and has no frequency conversion restrictions. The proposed approach for
voltage and frequency regulation demonstrates exceptional performance and
favorable response across various load alteration scenarios. The suggested
strategy is examined in several scenarios in the MG test systems, and the
simulation results are addressed.
Enhancing battery system identification: nonlinear autoregressive modeling fo...IJECEIAES
Precisely characterizing Li-ion batteries is essential for optimizing their
performance, enhancing safety, and prolonging their lifespan across various
applications, such as electric vehicles and renewable energy systems. This
article introduces an innovative nonlinear methodology for system
identification of a Li-ion battery, employing a nonlinear autoregressive with
exogenous inputs (NARX) model. The proposed approach integrates the
benefits of nonlinear modeling with the adaptability of the NARX structure,
facilitating a more comprehensive representation of the intricate
electrochemical processes within the battery. Experimental data collected
from a Li-ion battery operating under diverse scenarios are employed to
validate the effectiveness of the proposed methodology. The identified
NARX model exhibits superior accuracy in predicting the battery's behavior
compared to traditional linear models. This study underscores the
importance of accounting for nonlinearities in battery modeling, providing
insights into the intricate relationships between state-of-charge, voltage, and
current under dynamic conditions.
Smart grid deployment: from a bibliometric analysis to a surveyIJECEIAES
Smart grids are one of the last decades' innovations in electrical energy.
They bring relevant advantages compared to the traditional grid and
significant interest from the research community. Assessing the field's
evolution is essential to propose guidelines for facing new and future smart
grid challenges. In addition, knowing the main technologies involved in the
deployment of smart grids (SGs) is important to highlight possible
shortcomings that can be mitigated by developing new tools. This paper
contributes to the research trends mentioned above by focusing on two
objectives. First, a bibliometric analysis is presented to give an overview of
the current research level about smart grid deployment. Second, a survey of
the main technological approaches used for smart grid implementation and
their contributions are highlighted. To that effect, we searched the Web of
Science (WoS), and the Scopus databases. We obtained 5,663 documents
from WoS and 7,215 from Scopus on smart grid implementation or
deployment. With the extraction limitation in the Scopus database, 5,872 of
the 7,215 documents were extracted using a multi-step process. These two
datasets have been analyzed using a bibliometric tool called bibliometrix.
The main outputs are presented with some recommendations for future
research.
Use of analytical hierarchy process for selecting and prioritizing islanding ...IJECEIAES
One of the problems that are associated to power systems is islanding
condition, which must be rapidly and properly detected to prevent any
negative consequences on the system's protection, stability, and security.
This paper offers a thorough overview of several islanding detection
strategies, which are divided into two categories: classic approaches,
including local and remote approaches, and modern techniques, including
techniques based on signal processing and computational intelligence.
Additionally, each approach is compared and assessed based on several
factors, including implementation costs, non-detected zones, declining
power quality, and response times using the analytical hierarchy process
(AHP). The multi-criteria decision-making analysis shows that the overall
weight of passive methods (24.7%), active methods (7.8%), hybrid methods
(5.6%), remote methods (14.5%), signal processing-based methods (26.6%),
and computational intelligent-based methods (20.8%) based on the
comparison of all criteria together. Thus, it can be seen from the total weight
that hybrid approaches are the least suitable to be chosen, while signal
processing-based methods are the most appropriate islanding detection
method to be selected and implemented in power system with respect to the
aforementioned factors. Using Expert Choice software, the proposed
hierarchy model is studied and examined.
Enhancing of single-stage grid-connected photovoltaic system using fuzzy logi...IJECEIAES
The power generated by photovoltaic (PV) systems is influenced by
environmental factors. This variability hampers the control and utilization of
solar cells' peak output. In this study, a single-stage grid-connected PV
system is designed to enhance power quality. Our approach employs fuzzy
logic in the direct power control (DPC) of a three-phase voltage source
inverter (VSI), enabling seamless integration of the PV connected to the
grid. Additionally, a fuzzy logic-based maximum power point tracking
(MPPT) controller is adopted, which outperforms traditional methods like
incremental conductance (INC) in enhancing solar cell efficiency and
minimizing the response time. Moreover, the inverter's real-time active and
reactive power is directly managed to achieve a unity power factor (UPF).
The system's performance is assessed through MATLAB/Simulink
implementation, showing marked improvement over conventional methods,
particularly in steady-state and varying weather conditions. For solar
irradiances of 500 and 1,000 W/m2
, the results show that the proposed
method reduces the total harmonic distortion (THD) of the injected current
to the grid by approximately 46% and 38% compared to conventional
methods, respectively. Furthermore, we compare the simulation results with
IEEE standards to evaluate the system's grid compatibility.
Enhancing photovoltaic system maximum power point tracking with fuzzy logic-b...IJECEIAES
Photovoltaic systems have emerged as a promising energy resource that
caters to the future needs of society, owing to their renewable, inexhaustible,
and cost-free nature. The power output of these systems relies on solar cell
radiation and temperature. In order to mitigate the dependence on
atmospheric conditions and enhance power tracking, a conventional
approach has been improved by integrating various methods. To optimize
the generation of electricity from solar systems, the maximum power point
tracking (MPPT) technique is employed. To overcome limitations such as
steady-state voltage oscillations and improve transient response, two
traditional MPPT methods, namely fuzzy logic controller (FLC) and perturb
and observe (P&O), have been modified. This research paper aims to
simulate and validate the step size of the proposed modified P&O and FLC
techniques within the MPPT algorithm using MATLAB/Simulink for
efficient power tracking in photovoltaic systems.
Adaptive synchronous sliding control for a robot manipulator based on neural ...IJECEIAES
Robot manipulators have become important equipment in production lines, medical fields, and transportation. Improving the quality of trajectory tracking for
robot hands is always an attractive topic in the research community. This is a
challenging problem because robot manipulators are complex nonlinear systems
and are often subject to fluctuations in loads and external disturbances. This
article proposes an adaptive synchronous sliding control scheme to improve trajectory tracking performance for a robot manipulator. The proposed controller
ensures that the positions of the joints track the desired trajectory, synchronize
the errors, and significantly reduces chattering. First, the synchronous tracking
errors and synchronous sliding surfaces are presented. Second, the synchronous
tracking error dynamics are determined. Third, a robust adaptive control law is
designed,the unknown components of the model are estimated online by the neural network, and the parameters of the switching elements are selected by fuzzy
logic. The built algorithm ensures that the tracking and approximation errors
are ultimately uniformly bounded (UUB). Finally, the effectiveness of the constructed algorithm is demonstrated through simulation and experimental results.
Simulation and experimental results show that the proposed controller is effective with small synchronous tracking errors, and the chattering phenomenon is
significantly reduced.
Remote field-programmable gate array laboratory for signal acquisition and de...IJECEIAES
A remote laboratory utilizing field-programmable gate array (FPGA) technologies enhances students’ learning experience anywhere and anytime in embedded system design. Existing remote laboratories prioritize hardware access and visual feedback for observing board behavior after programming, neglecting comprehensive debugging tools to resolve errors that require internal signal acquisition. This paper proposes a novel remote embeddedsystem design approach targeting FPGA technologies that are fully interactive via a web-based platform. Our solution provides FPGA board access and debugging capabilities beyond the visual feedback provided by existing remote laboratories. We implemented a lab module that allows users to seamlessly incorporate into their FPGA design. The module minimizes hardware resource utilization while enabling the acquisition of a large number of data samples from the signal during the experiments by adaptively compressing the signal prior to data transmission. The results demonstrate an average compression ratio of 2.90 across three benchmark signals, indicating efficient signal acquisition and effective debugging and analysis. This method allows users to acquire more data samples than conventional methods. The proposed lab allows students to remotely test and debug their designs, bridging the gap between theory and practice in embedded system design.
Detecting and resolving feature envy through automated machine learning and m...IJECEIAES
Efficiently identifying and resolving code smells enhances software project quality. This paper presents a novel solution, utilizing automated machine learning (AutoML) techniques, to detect code smells and apply move method refactoring. By evaluating code metrics before and after refactoring, we assessed its impact on coupling, complexity, and cohesion. Key contributions of this research include a unique dataset for code smell classification and the development of models using AutoGluon for optimal performance. Furthermore, the study identifies the top 20 influential features in classifying feature envy, a well-known code smell, stemming from excessive reliance on external classes. We also explored how move method refactoring addresses feature envy, revealing reduced coupling and complexity, and improved cohesion, ultimately enhancing code quality. In summary, this research offers an empirical, data-driven approach, integrating AutoML and move method refactoring to optimize software project quality. Insights gained shed light on the benefits of refactoring on code quality and the significance of specific features in detecting feature envy. Future research can expand to explore additional refactoring techniques and a broader range of code metrics, advancing software engineering practices and standards.
Smart monitoring technique for solar cell systems using internet of things ba...IJECEIAES
Rapidly and remotely monitoring and receiving the solar cell systems status parameters, solar irradiance, temperature, and humidity, are critical issues in enhancement their efficiency. Hence, in the present article an improved smart prototype of internet of things (IoT) technique based on embedded system through NodeMCU ESP8266 (ESP-12E) was carried out experimentally. Three different regions at Egypt; Luxor, Cairo, and El-Beheira cities were chosen to study their solar irradiance profile, temperature, and humidity by the proposed IoT system. The monitoring data of solar irradiance, temperature, and humidity were live visualized directly by Ubidots through hypertext transfer protocol (HTTP) protocol. The measured solar power radiation in Luxor, Cairo, and El-Beheira ranged between 216-1000, 245-958, and 187-692 W/m 2 respectively during the solar day. The accuracy and rapidity of obtaining monitoring results using the proposed IoT system made it a strong candidate for application in monitoring solar cell systems. On the other hand, the obtained solar power radiation results of the three considered regions strongly candidate Luxor and Cairo as suitable places to build up a solar cells system station rather than El-Beheira.
An efficient security framework for intrusion detection and prevention in int...IJECEIAES
Over the past few years, the internet of things (IoT) has advanced to connect billions of smart devices to improve quality of life. However, anomalies or malicious intrusions pose several security loopholes, leading to performance degradation and threat to data security in IoT operations. Thereby, IoT security systems must keep an eye on and restrict unwanted events from occurring in the IoT network. Recently, various technical solutions based on machine learning (ML) models have been derived towards identifying and restricting unwanted events in IoT. However, most ML-based approaches are prone to miss-classification due to inappropriate feature selection. Additionally, most ML approaches applied to intrusion detection and prevention consider supervised learning, which requires a large amount of labeled data to be trained. Consequently, such complex datasets are impossible to source in a large network like IoT. To address this problem, this proposed study introduces an efficient learning mechanism to strengthen the IoT security aspects. The proposed algorithm incorporates supervised and unsupervised approaches to improve the learning models for intrusion detection and mitigation. Compared with the related works, the experimental outcome shows that the model performs well in a benchmark dataset. It accomplishes an improved detection accuracy of approximately 99.21%.
Developing a smart system for infant incubators using the internet of things ...IJECEIAES
This research is developing an incubator system that integrates the internet of things and artificial intelligence to improve care for premature babies. The system workflow starts with sensors that collect data from the incubator. Then, the data is sent in real-time to the internet of things (IoT) broker eclipse mosquito using the message queue telemetry transport (MQTT) protocol version 5.0. After that, the data is stored in a database for analysis using the long short-term memory network (LSTM) method and displayed in a web application using an application programming interface (API) service. Furthermore, the experimental results produce as many as 2,880 rows of data stored in the database. The correlation coefficient between the target attribute and other attributes ranges from 0.23 to 0.48. Next, several experiments were conducted to evaluate the model-predicted value on the test data. The best results are obtained using a two-layer LSTM configuration model, each with 60 neurons and a lookback setting 6. This model produces an R 2 value of 0.934, with a root mean square error (RMSE) value of 0.015 and a mean absolute error (MAE) of 0.008. In addition, the R 2 value was also evaluated for each attribute used as input, with a result of values between 0.590 and 0.845.
A review on internet of things-based stingless bee's honey production with im...IJECEIAES
Honey is produced exclusively by honeybees and stingless bees which both are well adapted to tropical and subtropical regions such as Malaysia. Stingless bees are known for producing small amounts of honey and are known for having a unique flavor profile. Problem identified that many stingless bees collapsed due to weather, temperature and environment. It is critical to understand the relationship between the production of stingless bee honey and environmental conditions to improve honey production. Thus, this paper presents a review on stingless bee's honey production and prediction modeling. About 54 previous research has been analyzed and compared in identifying the research gaps. A framework on modeling the prediction of stingless bee honey is derived. The result presents the comparison and analysis on the internet of things (IoT) monitoring systems, honey production estimation, convolution neural networks (CNNs), and automatic identification methods on bee species. It is identified based on image detection method the top best three efficiency presents CNN is at 98.67%, densely connected convolutional networks with YOLO v3 is 97.7%, and DenseNet201 convolutional networks 99.81%. This study is significant to assist the researcher in developing a model for predicting stingless honey produced by bee's output, which is important for a stable economy and food security.
A trust based secure access control using authentication mechanism for intero...IJECEIAES
The internet of things (IoT) is a revolutionary innovation in many aspects of our society including interactions, financial activity, and global security such as the military and battlefield internet. Due to the limited energy and processing capacity of network devices, security, energy consumption, compatibility, and device heterogeneity are the long-term IoT problems. As a result, energy and security are critical for data transmission across edge and IoT networks. Existing IoT interoperability techniques need more computation time, have unreliable authentication mechanisms that break easily, lose data easily, and have low confidentiality. In this paper, a key agreement protocol-based authentication mechanism for IoT devices is offered as a solution to this issue. This system makes use of information exchange, which must be secured to prevent access by unauthorized users. Using a compact contiki/cooja simulator, the performance and design of the suggested framework are validated. The simulation findings are evaluated based on detection of malicious nodes after 60 minutes of simulation. The suggested trust method, which is based on privacy access control, reduced packet loss ratio to 0.32%, consumed 0.39% power, and had the greatest average residual energy of 0.99 mJoules at 10 nodes.
Fuzzy linear programming with the intuitionistic polygonal fuzzy numbersIJECEIAES
In real world applications, data are subject to ambiguity due to several factors; fuzzy sets and fuzzy numbers propose a great tool to model such ambiguity. In case of hesitation, the complement of a membership value in fuzzy numbers can be different from the non-membership value, in which case we can model using intuitionistic fuzzy numbers as they provide flexibility by defining both a membership and a non-membership functions. In this article, we consider the intuitionistic fuzzy linear programming problem with intuitionistic polygonal fuzzy numbers, which is a generalization of the previous polygonal fuzzy numbers found in the literature. We present a modification of the simplex method that can be used to solve any general intuitionistic fuzzy linear programming problem after approximating the problem by an intuitionistic polygonal fuzzy number with n edges. This method is given in a simple tableau formulation, and then applied on numerical examples for clarity.
The performance of artificial intelligence in prostate magnetic resonance im...IJECEIAES
Prostate cancer is the predominant form of cancer observed in men worldwide. The application of magnetic resonance imaging (MRI) as a guidance tool for conducting biopsies has been established as a reliable and well-established approach in the diagnosis of prostate cancer. The diagnostic performance of MRI-guided prostate cancer diagnosis exhibits significant heterogeneity due to the intricate and multi-step nature of the diagnostic pathway. The development of artificial intelligence (AI) models, specifically through the utilization of machine learning techniques such as deep learning, is assuming an increasingly significant role in the field of radiology. In the realm of prostate MRI, a considerable body of literature has been dedicated to the development of various AI algorithms. These algorithms have been specifically designed for tasks such as prostate segmentation, lesion identification, and classification. The overarching objective of these endeavors is to enhance diagnostic performance and foster greater agreement among different observers within MRI scans for the prostate. This review article aims to provide a concise overview of the application of AI in the field of radiology, with a specific focus on its utilization in prostate MRI.
Seizure stage detection of epileptic seizure using convolutional neural networksIJECEIAES
According to the World Health Organization (WHO), seventy million individuals worldwide suffer from epilepsy, a neurological disorder. While electroencephalography (EEG) is crucial for diagnosing epilepsy and monitoring the brain activity of epilepsy patients, it requires a specialist to examine all EEG recordings to find epileptic behavior. This procedure needs an experienced doctor, and a precise epilepsy diagnosis is crucial for appropriate treatment. To identify epileptic seizures, this study employed a convolutional neural network (CNN) based on raw scalp EEG signals to discriminate between preictal, ictal, postictal, and interictal segments. The possibility of these characteristics is explored by examining how well timedomain signals work in the detection of epileptic signals using intracranial Freiburg Hospital (FH), scalp Children's Hospital Boston-Massachusetts Institute of Technology (CHB-MIT) databases, and Temple University Hospital (TUH) EEG. To test the viability of this approach, two types of experiments were carried out. Firstly, binary class classification (preictal, ictal, postictal each versus interictal) and four-class classification (interictal versus preictal versus ictal versus postictal). The average accuracy for stage detection using CHB-MIT database was 84.4%, while the Freiburg database's time-domain signals had an accuracy of 79.7% and the highest accuracy of 94.02% for classification in the TUH EEG database when comparing interictal stage to preictal stage.
Analysis of driving style using self-organizing maps to analyze driver behaviorIJECEIAES
Modern life is strongly associated with the use of cars, but the increase in acceleration speeds and their maneuverability leads to a dangerous driving style for some drivers. In these conditions, the development of a method that allows you to track the behavior of the driver is relevant. The article provides an overview of existing methods and models for assessing the functioning of motor vehicles and driver behavior. Based on this, a combined algorithm for recognizing driving style is proposed. To do this, a set of input data was formed, including 20 descriptive features: About the environment, the driver's behavior and the characteristics of the functioning of the car, collected using OBD II. The generated data set is sent to the Kohonen network, where clustering is performed according to driving style and degree of danger. Getting the driving characteristics into a particular cluster allows you to switch to the private indicators of an individual driver and considering individual driving characteristics. The application of the method allows you to identify potentially dangerous driving styles that can prevent accidents.
Hyperspectral object classification using hybrid spectral-spatial fusion and ...IJECEIAES
Because of its spectral-spatial and temporal resolution of greater areas, hyperspectral imaging (HSI) has found widespread application in the field of object classification. The HSI is typically used to accurately determine an object's physical characteristics as well as to locate related objects with appropriate spectral fingerprints. As a result, the HSI has been extensively applied to object identification in several fields, including surveillance, agricultural monitoring, environmental research, and precision agriculture. However, because of their enormous size, objects require a lot of time to classify; for this reason, both spectral and spatial feature fusion have been completed. The existing classification strategy leads to increased misclassification, and the feature fusion method is unable to preserve semantic object inherent features; This study addresses the research difficulties by introducing a hybrid spectral-spatial fusion (HSSF) technique to minimize feature size while maintaining object intrinsic qualities; Lastly, a soft-margins kernel is proposed for multi-layer deep support vector machine (MLDSVM) to reduce misclassification. The standard Indian pines dataset is used for the experiment, and the outcome demonstrates that the HSSF-MLDSVM model performs substantially better in terms of accuracy and Kappa coefficient.
Overview of the fundamental roles in Hydropower generation and the components involved in wider Electrical Engineering.
This paper presents the design and construction of hydroelectric dams from the hydrologist’s survey of the valley before construction, all aspects and involved disciplines, fluid dynamics, structural engineering, generation and mains frequency regulation to the very transmission of power through the network in the United Kingdom.
Author: Robbie Edward Sayers
Collaborators and co editors: Charlie Sims and Connor Healey.
(C) 2024 Robbie E. Sayers
Vaccine management system project report documentation..pdfKamal Acharya
The Division of Vaccine and Immunization is facing increasing difficulty monitoring vaccines and other commodities distribution once they have been distributed from the national stores. With the introduction of new vaccines, more challenges have been anticipated with this additions posing serious threat to the already over strained vaccine supply chain system in Kenya.
Welcome to WIPAC Monthly the magazine brought to you by the LinkedIn Group Water Industry Process Automation & Control.
In this month's edition, along with this month's industry news to celebrate the 13 years since the group was created we have articles including
A case study of the used of Advanced Process Control at the Wastewater Treatment works at Lleida in Spain
A look back on an article on smart wastewater networks in order to see how the industry has measured up in the interim around the adoption of Digital Transformation in the Water Industry.
Event Management System Vb Net Project Report.pdfKamal Acharya
In present era, the scopes of information technology growing with a very fast .We do not see any are untouched from this industry. The scope of information technology has become wider includes: Business and industry. Household Business, Communication, Education, Entertainment, Science, Medicine, Engineering, Distance Learning, Weather Forecasting. Carrier Searching and so on.
My project named “Event Management System” is software that store and maintained all events coordinated in college. It also helpful to print related reports. My project will help to record the events coordinated by faculties with their Name, Event subject, date & details in an efficient & effective ways.
In my system we have to make a system by which a user can record all events coordinated by a particular faculty. In our proposed system some more featured are added which differs it from the existing system such as security.
CFD Simulation of By-pass Flow in a HRSG module by R&R Consult.pptxR&R Consult
CFD analysis is incredibly effective at solving mysteries and improving the performance of complex systems!
Here's a great example: At a large natural gas-fired power plant, where they use waste heat to generate steam and energy, they were puzzled that their boiler wasn't producing as much steam as expected.
R&R and Tetra Engineering Group Inc. were asked to solve the issue with reduced steam production.
An inspection had shown that a significant amount of hot flue gas was bypassing the boiler tubes, where the heat was supposed to be transferred.
R&R Consult conducted a CFD analysis, which revealed that 6.3% of the flue gas was bypassing the boiler tubes without transferring heat. The analysis also showed that the flue gas was instead being directed along the sides of the boiler and between the modules that were supposed to capture the heat. This was the cause of the reduced performance.
Based on our results, Tetra Engineering installed covering plates to reduce the bypass flow. This improved the boiler's performance and increased electricity production.
It is always satisfying when we can help solve complex challenges like this. Do your systems also need a check-up or optimization? Give us a call!
Work done in cooperation with James Malloy and David Moelling from Tetra Engineering.
More examples of our work https://www.r-r-consult.dk/en/cases-en/
Explore the innovative world of trenchless pipe repair with our comprehensive guide, "The Benefits and Techniques of Trenchless Pipe Repair." This document delves into the modern methods of repairing underground pipes without the need for extensive excavation, highlighting the numerous advantages and the latest techniques used in the industry.
Learn about the cost savings, reduced environmental impact, and minimal disruption associated with trenchless technology. Discover detailed explanations of popular techniques such as pipe bursting, cured-in-place pipe (CIPP) lining, and directional drilling. Understand how these methods can be applied to various types of infrastructure, from residential plumbing to large-scale municipal systems.
Ideal for homeowners, contractors, engineers, and anyone interested in modern plumbing solutions, this guide provides valuable insights into why trenchless pipe repair is becoming the preferred choice for pipe rehabilitation. Stay informed about the latest advancements and best practices in the field.
COLLEGE BUS MANAGEMENT SYSTEM PROJECT REPORT.pdfKamal Acharya
The College Bus Management system is completely developed by Visual Basic .NET Version. The application is connect with most secured database language MS SQL Server. The application is develop by using best combination of front-end and back-end languages. The application is totally design like flat user interface. This flat user interface is more attractive user interface in 2017. The application is gives more important to the system functionality. The application is to manage the student’s details, driver’s details, bus details, bus route details, bus fees details and more. The application has only one unit for admin. The admin can manage the entire application. The admin can login into the application by using username and password of the admin. The application is develop for big and small colleges. It is more user friendly for non-computer person. Even they can easily learn how to manage the application within hours. The application is more secure by the admin. The system will give an effective output for the VB.Net and SQL Server given as input to the system. The compiled java program given as input to the system, after scanning the program will generate different reports. The application generates the report for users. The admin can view and download the report of the data. The application deliver the excel format reports. Because, excel formatted reports is very easy to understand the income and expense of the college bus. This application is mainly develop for windows operating system users. In 2017, 73% of people enterprises are using windows operating system. So the application will easily install for all the windows operating system users. The application-developed size is very low. The application consumes very low space in disk. Therefore, the user can allocate very minimum local disk space for this application.
Water scarcity is the lack of fresh water resources to meet the standard water demand. There are two type of water scarcity. One is physical. The other is economic water scarcity.
About
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
Technical Specifications
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
Key Features
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface
• Compatible with MAFI CCR system
• Copatiable with IDM8000 CCR
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
Application
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
Industrial Training at Shahjalal Fertilizer Company Limited (SFCL)MdTanvirMahtab2
This presentation is about the working procedure of Shahjalal Fertilizer Company Limited (SFCL). A Govt. owned Company of Bangladesh Chemical Industries Corporation under Ministry of Industries.
Estimation of water momentum and propeller velocity in bow thruster model of autonomous surface vehicle using modified Kalman filter
1. International Journal of Electrical and Computer Engineering (IJECE)
Vol. 12, No. 6, December 2022, pp. 5988~5997
ISSN: 2088-8708, DOI: 10.11591/ijece.v12i6.pp5988-5997 5988
Journal homepage: http://ijece.iaescore.com
Estimation of water momentum and propeller velocity in bow
thruster model of autonomous surface vehicle using modified
Kalman filter
Hendro Nurhadi1
, Mayga Kiki2
, Dieky Adzkiya2
, Teguh Herlambang3
1
Department of Industrial Mechanical Engineering, Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia
2
Department of Mathematics, Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia
3
Department of Information Systems, Universitas Nahdlatul Ulama Surabaya, Surabaya, Indonesia
Article Info ABSTRACT
Article history:
Received Jul 12, 2021
Revised Jul 22, 2022
Accepted Aug 12, 2022
Autonomous surface vehicle (ASV) is a vehicle in the form of an unmanned
on-water surface vessel that can move automatically. As such, an automatic
control system is essentially required. The bow thruster system functions as
a propulsion control device in its operations. In this research, the water
momentum and propeller velocity were estimated based on the dynamic bow
thruster model. The estimation methods used is the Kalman filter (KF) and
ensemble Kalman filter (EnKF). There are two scenarios: tunnel thruster
condition and open-bladed thruster condition. The estimation results in the
tunnel thruster condition showed that the root mean square error (RMSE) by
the EnKF method was relatively smaller, that is, 0.7920 and 0.1352, while
the estimation results in the open-bladed thruster condition showed that the
RMSE by the KF method was relatively smaller, that is, 1.9957 and 2.0609.
Keywords:
Autonomous surface vehicle
Bow thruster
Ensemble Kalman filter
Kalman filter
This is an open access article under the CC BY-SA license.
Corresponding Author:
Teguh Herlambang
Department of Information Systems, Universitas Nahdlatul Ulama Surabaya
Jl. Raya Jemursari 51-57, Surabaya, Indonesia
Email: teguh@unusa.ac.id
1. INTRODUCTION
Indonesia is an archipelago country consisting of 17,508 islands, with sea area of about two-thirds
of its territory and consisting of several main island groups [1]. This can provide income opportunities for the
country, especially in the marine tourism sector. Along with the rapid development of modern technology in
various fields, it also has an impact on the development of marine transportation, namely unmanned water
surface vehicles that can move automatically, i.e., autonomous surface vehicle (ASV) or unmanned surface
vehicle (USV). USV is controlled automatically by commands such as waypoints [2]. ASV can be used either
as a research or survey vessel for river or lake area inspection, seismic survey, rescue operation, and others.
The use of ASV as a research vessel has been carried out in several countries, most of which carry out
research in either rivers or offshore automatically.
In the transportation sector, especially the marine transportation sector, a ship is required to work
optimally. One way to support the smooth operation of a ship voyage requires a supporting device to support
the ship when maneuvering, a bow thruster as a propeller installed on the ship bow. Ship maneuvering is the
ship’s ability to turn and turn around when the ship is about to dock or set off the port. This ability greatly
determines the safety of the ship, especially when the ship operates in confined waters or operates around the
port. The bow thruster installation can also increase the maneuverability of a ship. By utilizing the rotational
energy of the propeller in the tunnel thruster of a ship, the direction of the ship can be turned faster than a
ship without a bow thruster. By relying on the bow thruster’s ability, it can be developed by adding an
2. Int J Elec & Comp Eng ISSN: 2088-8708
Estimation of water momentum and propeller velocity in bow thruster model … (Hendro Nurhadi)
5989
additional part to the tunnel thruster. It works by providing a cover on the bow thruster that can be opened
and closed. The purpose of this tunnel cover is not only for opening and closing, but rather leads to an
increase in the maneuverability of ships utilizing the bow thruster [3].
During the ship voyage, maneuvering process can be interrupted if a bow thruster does not operate
properly. It is undeniable that (noise) interference may come from the bow thruster system itself. Disturbance
can occur when the bow thruster functioning to smooth motion is damaged, so that the operating system of
the bow thruster, which provides a transverse thrust on the bow of the ship is disturbed [4]. To overcome any
disturbance to the ship voyage, its control system is equipped with an estimator. The estimator is used to
provide predictions for the variables on the ship due to the disturbance that occurs. One of the algorithms for
estimating a state system of a dynamic model was introduced by Kalman [5]. This algorithm is called the
Kalman filter (KF), which is an algorithm that can be implemented in a stochastic linear dynamic model.
In the previous research, researches on estimation have been carried out. The study [6] conducted a
research with the aim of designing a KF estimator on noise conditions by measuring instruments, noise by
ship systems and inaccuracy in modeling. The ship dynamic variables estimated for steering purposes are
sway-yaw dynamics with variables of angular velocity, angular position, and sway direction velocity. The
results of the application of the KF algorithm are the estimated values of the three dynamic variables of the
ship with the absolute integral percentage of error of the system-on-system noise and measurement noise.
Ataei and Koma [7] investigated the navigation and guidance control system of autonomous underwater
vehicle (AUV). Then Miller et al. [8] discussed estimation and control of AUV by using acoustic. In 2018,
Wang et al. [9] described estimation of steam temperature in drum boiler. Then Schoniger et al. [10]
estimated parameter of hydraulic tomography using ensemble Kalman filter (EnKF). In Nurhadi et al. [11]
conducted a research related to the estimation of ASV position and motion due to the influence of wind speed
and wave height by applying the EnKF. The results of the application of the EnKF algorithm showed the
smallest position error and a high degree of accuracy [11]. Then [12], [13] used EnKF in blood transfusion
management and crude oil price estimation, respectively. Recently, studies [14]–[20] discussed the
application of KF in pneumatic artificial muscles, mobile robot, real-time RSSI based outdoor target tracking
and autonomous underwater vehicle. Regarding researches on the bow thruster modeling, there are numerous
references in the literature, such as [21]–[27]. In this research, we use the model proposed by Healey
et al. [21] which produces a motion control system on the thruster, namely water momentum and propeller
velocity which is a dynamic thruster model.
To the best of our knowledge, the effect of noise on water momentum and propeller velocity using a
dynamic thruster model was not yet studied in the literature. That motivates the current research of the authors.
The main contribution of this paper is a numerical analysis on the comparison between the KF method and the
EnKF method for estimating the water momentum and propeller velocity on a bow thruster autonomous surface
vehicle (ASV). We compare the performance of KF and EnKF because EnKF is an extension of KF which can
be used to estimate linear and nonlinear models by generating some ensembles. In this paper, first we linearize
the bow thruster model. Then, we analyze the stability of the linearized model. After that, we discretize the
model by using the zero-order hold method. Next, we implement the KF and the EnKF to the linearized model.
Finally, we conduct some simulations and analyze the simulation results.
2. MODELS AND PRELIMINARIES
2.1. Bow thruster model of autonomous surface vehicle
The bow thruster model that was proposed in [9] is a continuous-time nonlinear model. The model
has two state variables, i.e., motor rotational rate 𝜔𝑚 and section average flow velocity 𝑈𝑎. The model has
two input variables, i.e., voltage source 𝑉
𝑠 and vehicle velocity 𝑈0. There is one output variable in the model,
i.e., thrust force 𝑇. The state equations in the bow thruster model are:
𝜔̇𝑚 = 𝑓1(𝜔𝑚, 𝑈𝑎, 𝑉
𝑠, 𝑈0) = −𝐾1𝜔𝑚 + 𝐾2𝑉
𝑠 − 𝐾ℎ𝑄
𝑈̇𝑎 = 𝑓2(𝜔𝑚, 𝑈𝑎, 𝑉
𝑠, 𝑈0) = −𝐾4𝐾3
−1
𝑈
̅𝑎|𝑈
̅𝑎| + 𝐾3
−1
𝑇
and the output equation is given by
𝑇 = 𝑔(𝜔𝑚, 𝑈𝑎, 𝑉
𝑠, 𝑈0) = 𝐿𝑖𝑓𝑡(cos 𝜃) − 𝐷𝑟𝑎𝑔(sin 𝜃)
where 𝐿𝑖𝑓𝑡 represents the lift force, 𝐷𝑟𝑎𝑔 represents the drag force and 𝜃 represents the angle of inlet to
blades. In [28], we have linearized the bow thruster model by using the parameters for tunnel thruster test and
open bladed thruster test.
When the parameters for tunnel thruster test are used, we obtain the following linear system [28]:
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(
𝜔̇𝑚
𝑈̇𝑎
) = (
−70.7 1.2
−2.1 −14.8
) (
𝜔𝑚
𝑈𝑎
) + (
1133.2 0
0 1.9
) (
𝑉
𝑠
𝑈0
)
𝑇 = (−2.03 −12.2) (
𝜔𝑚
𝑈𝑎
) + (0 0) (
𝑉
𝑠
𝑈0
)
Next, we check the stability of the linear system by computing the eigenvalues. The eigenvalues of the state
matrix are 𝜆1 = −70.6549 and 𝜆2 = −14.8451. Since the real parts of all eigenvalues are negative, the
linear system is asymptotically stable. Furthermore, the linear system is observable because the rank of
observability matrix is 2.
If we use the parameters for open-bladed thruster test, we obtain the following linear system [28]:
(
𝜔̇𝑚
𝑈̇𝑎
) = (
−523.7 −1519.8
−1.15 −0.13
) (
𝜔𝑚
𝑈𝑎
) + (
0.065 0
0 2.73
) (
𝑉
𝑠
𝑈0
)
𝑇 = (−4.62 −10.4) (
𝜔𝑚
𝑈𝑎
) + (0 0) (
𝑉
𝑠
𝑈0
)
Then, as before, we determine the stability of the linear system. The eigenvalues of the system matrix are
𝜆1 = −527.0172 and 𝜆2 = 31872. The linear system is unstable because there exists an eigenvalue where
the real part is positive. Moreover, this linear system is observable because the rank of observability matrix
equals 2.
2.2. Kalman filter algorithm implementation
In this section, we discuss the KF algorithm. In the next section, the algorithm will be applied to the
linearized bow thruster model. As mentioned before, the KF algorithm can be applied to discrete-time
systems. As such, the model needs to be discretized first. The steps of the KF algorithm were as [29], [30]:
− Determine the system model and measurement model. The general form of system model was represented
as:
𝑥𝑘+1 = 𝐴𝑥𝑘 + 𝐵𝑢𝑘 + 𝐺𝑤𝑘
where 𝑥𝑘 is the state at time 𝑘, 𝑢𝑘 is the input at time 𝑘 and 𝑤𝑘 is the system noise at time 𝑘. We assume
that the system noise at time 𝑘 is normally distributed with mean 0 and variance 𝑄𝑘, i.e., 𝑤𝑘 ∼ 𝑁(0, 𝑄𝑘).
The general form of measurement model was represented as:
𝑧𝑘 = 𝐻𝑥𝑘 + 𝑣𝑘
where 𝑧𝑘 is the measurement at time 𝑘 and 𝑣𝑘 is the measurement noise at time 𝑘. We assume that the
measurement noise at time 𝑘 is normally distributed with mean 0 and variance 𝑅𝑘, i.e., 𝑣𝑘 ∼ 𝑁(0, 𝑅𝑘).
− Initialization stage. Determine the initial state, the initial covariance for system noise and the initial
covariance of measurement noise. The estimated initial state 𝑥
̂0 was generated by a normally distributed
random variable with mean 𝑥̅0 and covariance 𝑃0.
− Time update. After the system model became a discrete-time linear system, then the estimation and
covariance of the estimation could be calculated using the following equation:
State estimation: 𝑥̅𝑘+1
−
= 𝐴𝑘𝑥̅𝑘 + 𝐵𝑘𝑢𝑘
Covariance of estimation: 𝑃𝑘+1
−
= 𝐴𝑘𝑃𝑘𝐴𝑘
𝑇
+ 𝐺𝑘𝑄𝑘𝐺𝑘
𝑇
Notation 𝑥
̂𝑘+1
−
represents the estimation of state at time 𝑘 + 1 before receiving the measurement data. The
covariance of the estimation is denoted by 𝑃𝑘+1
−
.
− Measurement update. After receiving the measurement data, we find out the Kalman gain, the updated
estimation and updated covariance of estimation:
Kalman gain: 𝐾𝑘 = 𝑃𝑘+1
− [𝐻𝑘+1𝑃𝑘+1
−
𝐻𝑘+1
𝑇
+ 𝑅𝑘+1]−1
Update covariance of estimation: 𝑃𝑘+1 = [(𝑃𝑘+1
− )−1
+ 𝐻𝑘+1
𝑇
𝑅𝑘+1
−1
𝐻𝑘+1]−1
4. Int J Elec & Comp Eng ISSN: 2088-8708
Estimation of water momentum and propeller velocity in bow thruster model … (Hendro Nurhadi)
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Update state of estimation: 𝑥
̂𝑘+1 = 𝑥
̂𝑘+1
−
+ 𝑃𝑘+1𝐻𝑘+1
𝑇
𝑅𝑘+1
−1
(𝑧𝑘+1 − 𝐻𝑘+1𝑥
̂𝑘+1
−
)
Notation 𝑥
̂𝑘+1 denotes the estimation of state at time 𝑘 + 1 after receiving the measurement data. The
covariance of the estimation is denoted by 𝑃𝑘+1.
− Once the measurement update was finished, the time update is executed again. The time update and
measurement update are executed until all measurement data are processed.
2.3. Ensemble Kalman filter algorithm implementation
In this section, we describe the EnKF algorithm [2], [31], [32]. The algorithm was applied to the
linearized bow thruster model. Before the EnKF algorithm was applied, the continuous-time model was
discretized first. The steps in the EnKF method were as:
− Determine the system model and measurement model. The system and measurement model for EnKF is
the same with the system and measurement model for KF.
− Initialization stage. Generate 𝑁 ensemble [𝑥0,1 𝑥0,2 … 𝑥0,𝑁] in accordance with the initial estimation,
where 𝑥0,𝑖 for 𝑖 = 1, … , 𝑁 is generated from a normal distribution with mean 𝑥0 and variance 𝑃0.
Determine the mean of the generated ensemble: 𝑥0 =
1
𝑁
∑ 𝑥0,𝑖
𝑁
𝑖=1
− Time update. In this stage, efforts were made to determine the estimation of ensemble, mean, and error
covariance at the next time step.
Estimation of ensemble: 𝑥
̂𝑘,𝑖
−
= 𝐴𝑥
̂𝑘,𝑖 + 𝐵𝑢𝑘−1 + 𝑤𝑘,𝑖 for 𝑖 = 1, ⋯ , 𝑁, where 𝑥0,𝑖 for 𝑖 = 1, ⋯ , 𝑁 is
generated from a normal distribution with mean 𝑥0 and variance 𝑄𝑘.
Mean of ensemble estimation: 𝑥
̂𝑘
−
=
1
𝑁
∑ 𝑥
̂𝑘,𝑖
−
𝑁
𝑖=1
Covariance of ensemble estimation: 𝑃𝑘
−
=
1
𝑁−1
∑ (𝑥
̂𝑘,𝑖
−
− 𝑥
̂𝑘
−
)
𝑁
𝑖=1 (𝑥
̂𝑘,𝑖
−
− 𝑥
̂𝑘
−
)
𝑇
− Measurement update. At this stage, the correction was done by generating N ensemble on measurement
data to determine the estimation of ensemble, Kalman gain, mean, and error covariance. Estimation of
ensemble measurement: 𝑧𝑘,𝑖 = 𝑧𝑘 + 𝑣𝑘,𝑖 for 𝑥0,𝑖𝑖 = 1, ⋯ , 𝑁 where 𝑣𝑘,𝑖 is generated from a normal
distribution with mean 0 and variance 𝑅𝑘.
Covariance between state and measurement: 𝑃𝑥𝑧 =
1
𝑁−1
∑ (𝑥
̂𝑘,𝑖
−
− 𝑥
̂𝑘
−
)
𝑁
𝑖=1 (𝑧𝑘,𝑖
−
− 𝑧𝑘
−
)
𝑇
Covariance of measurements: 𝑃𝑧 =
1
𝑁−1
∑ (𝑧𝑘,𝑖
−
− 𝑧𝑘
−
)
𝑁
𝑘=1 (𝑧𝑘,𝑖
−
− 𝑧𝑘
−
)
𝑇
Kalman gain: 𝐾𝑘 = 𝑃𝑥𝑧(𝑃𝑧)−1
Update state estimation: 𝑥
̂𝑘+1 = 𝑥
̂𝑘+1
−
+ 𝐾𝑘(𝑧𝑘,𝑖
−
− 𝐻𝑥
̂𝑘+1
−
)
− Once the measurement update was finished, the process continues to the time update for the next time
step. This process is repeated until all measurement data has been processed.
3. SIMULATION AND ANALYSIS RESULTS
In this section, we apply the KF and EnKF to the linearized bow thruster model. In each simulation,
we define the initial state, i.e., the initial propeller velocity 𝜔𝑚(0) and the initial water momentum 𝑈𝑎(0).
The covariance of system noise for all time is 0.5, i.e., 𝑄𝑘 = 0.5, for all 𝑘. The covariance of measurement
noise for all time is also 0.5, i.e., 𝑅𝑘 = 0.5 for all 𝑘.
3.1. Simulation I
In the first simulation, the parameters for tunnel thruster test are used. In this case, the duration of
the simulation is 𝑘 = 100 steps. In this simulation, we compare the real values and the estimation results
obtained by using KF and EnKF. The comparison is based on the root mean square error (RMSE). Such
comparison was shown to find out the better method to estimate the water momentum and propeller velocity
in the linearized bow thruster model of ASV. Based on Figure 1 (a) the RMSE for estimating the propeller
velocity using the KF method is 0.8678, whereas the RMSE for estimation result using the EnKF method is
5. ISSN: 2088-8708
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0.8051. Figure 1 (b) shows that the RMSE for the water momentum estimation by the KF method is 0.8717,
whereas the RMSE for estimation result using the EnKF method is 0.1344. Based on the simulation I result,
the conclusion is that the EnKF method is more accurate than the KF, when we use the parameters for tunnel
thruster test.
(a) (b)
Figure 1. Estimation results of (a) propeller velocity (𝜔𝑚) and (b) water momentum (𝑈𝑎)
by tunnel thruster test
3.2. Simulation II
In simulation II, the simulation was carried out based on the open-bladed thruster test with a value of
𝑘 = 100 steps. Simulation II is carried out by comparing the RMSE between the real value and both the KF
and EnKF estimation results. Such results were shown to determine the better method for estimating the
water momentum and propeller velocity in the linearized ASV bow thruster model. The results of
simulation II is displayed in Figure 2(a) and (b).
(a) (b)
Figure 2. Estimation results of propeller velocity (𝜔𝑚) and water momentum (𝑈𝑎) by open-bladed thruster test
Based on Figure 2 (a) the RMSE value for the propeller velocity estimation result using the KF
method is 1.6749, whereas the RMSE value for that using the EnKF method is 4.0858. Figure 2 (b) shows
that the RMSE value for the water momentum estimation using the KF method is 1.6820, whereas the RMSE
0 10 20 30 40 50 60 70 80 90 100
-2.5
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
2.5
Estimation of Propeller Velocity
Iteration
Propeller
Velocity
Real
EnKF Method
KF Method
0 10 20 30 40 50 60 70 80 90 100
-5
-4
-3
-2
-1
0
1
2
Estimation of Water Momentum
Iteration
Water
Momentum
Real
EnKF Method
KF Method
0 10 20 30 40 50 60 70 80 90 100
-100
-80
-60
-40
-20
0
20
Estimation of Propeller Velocity
Iteration
Propeller
Velocity
Real
EnKF Method
KF Method
0 10 20 30 40 50 60 70 80 90 100
-10
-5
0
5
10
15
20
25
30
35
Estimation of Water Momentum
Iteration
Water
Momentum
Real
EnKF Method
KF Method
6. Int J Elec & Comp Eng ISSN: 2088-8708
Estimation of water momentum and propeller velocity in bow thruster model … (Hendro Nurhadi)
5993
value for that using the EnKF method is 0.6795. Based on the estimation results of Simulation II, it could be
concluded that the KF method has higher accuracy than the EnKF method, when the parameters for open-
bladed thruster test are used.
3.3. Simulation III
In simulation III, we observe the effect of noise covariance to the accuracy of estimation results by
using KF and EnKF, both for parameters of tunnel thruster test and open-bladed thruster test. In all
simulations, the number of iterations is 𝑘 = 100 steps. In the first case, we try the following covariance of
noises 0.6, 0.8 and 1. Then for each covariance of noises, we implemented the KF and EnKF to the linearized
bow thruster model where the parameters are tunnel thruster test. The different noise covariance values were
expected to affect the estimation results in each method.
3.3.1. Variety of noise covariance values by tunnel thruster test
According to results in simulation III in Figures 3 to 5, it is shown that the higher noise covariance
value would affect the results of estimation. The values of RMSE are represented in Table 1. According to
Table 1, EnKF has a better performance than KF in almost all cases. There is only one case where KF has a
better performance than EnKF, i.e., the estimation of propeller velocity (𝜔𝑚) when the noise covariance
equals 1.
Figure 3. Estimation of propeller velocity (𝜔𝑚) and water momentum (𝑈𝑎) by tunnel thruster test with
covariance of noise equals 0.6
Figure 4. Estimation of propeller velocity (𝜔𝑚) and water momentum (𝑈𝑎) by tunnel thruster test with
covariance of noise equals 0.8
0 10 20 30 40 50 60 70 80 90 100
-2.5
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
2.5
Estimation of Propeller Velocity
Iteration
Propeller
Velocity
Real
EnKF Method
KF Method
0 10 20 30 40 50 60 70 80 90 100
-4
-3
-2
-1
0
1
2
3
4
Estimation of Water Momentum
Iteration
Water
Momentum
Real
EnKF Method
KF Method
0 10 20 30 40 50 60 70 80 90 100
-2
-1
0
1
2
3
4
Estimation of Propeller Velocity
Iteration
Propeller
Velocity
Real
EnKF Method
KF Method
0 10 20 30 40 50 60 70 80 90 100
-3
-2
-1
0
1
2
3
4
5
Estimation of Water Momentum
Iteration
Water
Momentum
Real
EnKF Method
KF Method
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Int J Elec & Comp Eng, Vol. 12, No. 6, December 2022: 5988-5997
5994
Figure 5. Estimation of propeller velocity (𝜔𝑚) and water momentum (𝑈𝑎) by tunnel thruster test with
covariance of noise equals 1
Table 1. RMSE values 𝜔𝑚 and 𝑈𝑎 for some covariance of noise by tunnel thruster test
0.6 0.8 1
𝜔𝑚 𝑈𝑎 𝜔𝑚 𝑈𝑎 𝜔𝑚 𝑈𝑎
KF 1.0751 1.0804 1,1638 1,1598 1.1969 1.8830
ENKF 0.8051 0.1344 0.9951 0.1659 1.2049 0.2017
3.3.2. Variation of noise covariance value by open-bladed thruster test
In this case, we vary the noise covariance values in 0.6, 0.8 and 1. For each noise covariance, we
implement the KF and EnKF to the linearized bow thruster model where the parameters are the open-bladed
thruster test. It was the condition under which the different noise covariance values was expected to affect the
estimation results of each method. Based on the results in simulation III in Figure 6-8, it was shown that the
higher noise covariance value affected the estimation results. The RMSE values are presented in Table 2.
From Table 2, we can conclude that KF has a better performance in the estimation of propeller velocity
(𝜔𝑚), whereas EnKF has a better performance in the estimation of water momentum (𝑈𝑎).
Figure 6. Estimation of propeller velocity (𝜔𝑚) and water momentum (𝑈𝑎) by open-bladed thruster test
where the covariance of noise is 0.6
0 10 20 30 40 50 60 70 80 90 100
-2.5
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
2.5
Estimation of Propeller Velocity
Iteration
Propeller
Velocity
Real
EnKF Method
KF Method
0 10 20 30 40 50 60 70 80 90 100
-4
-3
-2
-1
0
1
2
3
4
Estimation of Water Momentum
Iteration
Water
Momentum
Real
EnKF Method
KF Method
0 10 20 30 40 50 60 70 80 90 100
-350
-300
-250
-200
-150
-100
-50
0
50
Estimation of Propeller Velocity
Iteration
Propeller
Velocity
Real
EnKF Method
KF Method
0 10 20 30 40 50 60 70 80 90 100
-20
0
20
40
60
80
100
120
Estimation of Water Momentum
Iteration
Water
Momentum
Real
EnKF Method
KF Method
8. Int J Elec & Comp Eng ISSN: 2088-8708
Estimation of water momentum and propeller velocity in bow thruster model … (Hendro Nurhadi)
5995
Figure 7. Estimation of propeller velocity (𝜔𝑚) and water momentum (𝑈𝑎) by open-bladed thruster test
where the covariance of noise is 0.8
Figure 8. Estimation of propeller velocity (𝜔𝑚) and water momentum (𝑈𝑎) by open-bladed thruster test
where the covariance of noise equals 1
Table 2. RMSE values 𝜔𝑚 and 𝑈𝑎 for some covariance of noise by open-bladed thruster test
0.6 0.8 1
𝜔𝑚 𝑈𝑎 𝜔𝑚 𝑈𝑎 𝜔𝑚 𝑈𝑎
KF 1.7762 1.7748 1,8369 1,8449 2.2645 2.2752
ENKF 4.1879 0.6980 5.0252 0.8365 5.8559 0.9749
4. CONCLUSION
Based on the research results, the estimation results by the tunnel thruster test for the propeller
velocity (𝜔𝑚) and the water momentum (𝑈𝑎) was more accurate when we use the EnKF method due to the
relatively lower RMSE value, whereas in open-bladed thruster test for the estimation of propeller velocity
(𝜔𝑚) and water momentum (𝑈𝑎), KF was more accurate than EnKF.
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Int J Elec & Comp Eng, Vol. 12, No. 6, December 2022: 5988-5997
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10. Int J Elec & Comp Eng ISSN: 2088-8708
Estimation of water momentum and propeller velocity in bow thruster model … (Hendro Nurhadi)
5997
BIOGRAPHIES OF AUTHORS
Hendro Nurhadi received the Dipl. Ing. (FH) degree from the University of
Applied Science Georg-Simon-Ohm Fachhochshule Nuremberg, Nuremberg, Germany, in
2001 and the Ph.D. degree from the National Taiwan University of Science and Technology
(NTUST), Taipei, Taiwan, in 2009. He is currently with the Department of Mechanical
Engineering at Institute of Technology Sepuluh Nopember (ITS), Surabaya, Indonesia, in
charged as a Head of Mechatronics Laboratory, also assigned as a coordinator of national
consortium for mechatronics for defense, unmanned systems and industrial machineries. He
also assigned as researcher in Center of Excellence for Mechatronics and Industrial
Automation (PUI-PT MIA-RC ITS) Kemenristekdikti. He has authored numerous international
journal papers and international conferences, as well as reviewer and editor for various
international journal papers and international proceedings. His research interests and
consulting activities are in the areas of control system, robotics and automation, advanced
mechatronics, automated optical inspection (AOI), machine tools, dynamic systems,
automation of manufacturing processes, computer-aided design and manufacturing,
optimization applications, digital signal processing, artificial intelligence, and related fields.
He can be contacted at email: hdnurhadi@me.its.ac.id.
Mayga Kiki holds a BSc in mathematics from Institut Teknologi Sepuluh
Nopember, Indonesia. She is currently Office Development Program at PT. Bank Syariah
Indonesia, Tbk. She can be contacted at email: maygakiki2@gmail.com.
Dieky Adzkiya is an Assistant Professor in the Department of Mathematics and a
member of Mechatronics and Industrial Automation Research Center, both at Institut
Teknologi Sepuluh Nopember, Indonesia. He received the B.Sc. degree in September 2005 and
the M.Sc. degree in October 2008, both in Mathematics from the Institut Teknologi Sepuluh
Nopember, Surabaya, Indonesia. He received the Ph.D. degree in Systems and Control in
October 2014 and after that he continued as a postdoctoral researcher until June 2015, both at
the Delft Center for Systems and Control, Delft University of Technology, Delft, The
Netherlands. His research interests are in the analysis and verification of max-plus-linear
systems and in their applications. He can be contacted at email: dieky@matematika.its.ac.id.
Teguh Herlambang is currently Lecturer at the Department of Information
System, Nahdlatul Ulama Surabaya University (UNUSA) Surabaya, Indonesia. He received
his B.Sc and M.Sc. degree from Department of Mathematics at Institute of Technology
Sepuluh Nopember (ITS) in 2010 and 2012. He received his Ph.D. degree from Department of
Ocean Engineering at Institute of Technology Sepuluh Nopember (ITS). He is currently is a
Head of Research Department of FEBTD UNUSA, also assigned as researcher in Center of
Excellence for Mechatronics and Industrial Automation (PUI-PT MIA-RC ITS)
Kemenristekdikti. His area of interest is modelling, navigation, guidance and control of
dynamics system. He can be contacted at email: teguh@unusa.ac.id.