SYSTEM IDENTIFICATION AND MODELING FOR INTERACTING AND NON-INTERACTING TANK S...ijistjournal
System identification from the experimental data plays a vital role for model based controller design. Derivation of process model from first principles is often difficult due to its complexity. The first stage in the development of any control and monitoring system is the identification and modeling of the system. Each model is developed within the context of a specific control problem. Thus, the need for a general system identification framework is warranted. The proposed framework should be able to adapt and emphasize different properties based on the control objective and the nature of the behavior of the system. Therefore, system identification has been a valuable tool in identifying the model of the system based on the input and output data for the design of the controller. The present work is concerned with the identification of transfer function models using statistical model identification, process reaction curve method, ARX model, genetic algorithm and modeling using neural network and fuzzy logic for interacting and non interacting tank process. The identification technique and modeling used is prone to parameter change & disturbance. The proposed methods are used for identifying the mathematical model and intelligent model of interacting and non interacting process from the real time experimental data.
Kineto-Elasto Dynamic Analysis of Robot Manipulator Puma-560IOSR Journals
Current industrial robots are made very heavy to achieve high Stiffness
which increases the accuracy of their motion. However this heaviness limits the robot speed and in masses the
required energy to move the system. The requirement for higher speed and better system performance makes it
necessary to consider a new generation of light weight manipulators as an alternative to today's massive
inefficient ones. Light weight manipulators require Less energy to move and they have larger payload abilities
and more maneuverability. However due to the dynamic effects of structural flexibility, their control is much
more difficult. Therefore, there is a need to develop accurate dynamic models for design and control of such
systems.This project presents the flexibility and Kineto - Elasto dynamic analysis of robot manipulator
considering deflection. Based on the distributed parameter method, the generalized motion equations of robot
manipulator with flexible links are derived. The final formulation of the motion equations is used to model
general complex elastic manipulators with nonlinear rigid-body and elastic motion in dynamics and it can be
used in the flexibility analysis of robot manipulators and spatial mechanisms. Manipulator end-effector path
trajectory, velocity and accelerations are plotted. Joint torques is to be determined for each joint trajectory
(Dynamics) .Using joint torques, static loading due to link’s masses, masses at joints, and payload, the robot
arms elastic deformations are to be found by using ANSYS-12.0 software package. Elastic compensation is
inserted in coordinates of robotic programming to get exact end-effectors path. A comparison of paths
trajectory of the end-effector is to be plotted. Also variation of torques is plotted after considering elastic
compensation. These torque variations are included in the robotic programming for getting the accurate endeffect
or’s path trajectory
BINARY SINE COSINE ALGORITHMS FOR FEATURE SELECTION FROM MEDICAL DATAacijjournal
A well-constructed classification model highly depends on input feature subsets from a dataset, which may contain redundant, irrelevant, or noisy features. This challenge can be worse while dealing with medical datasets. The main aim of feature selection as a pre-processing task is to eliminate these features and select the most effective ones. In the literature, metaheuristic algorithms show a successful performance to find optimal feature subsets. In this paper, two binary metaheuristic algorithms named S-shaped binary Sine Cosine Algorithm (SBSCA) and V-shaped binary Sine Cosine Algorithm (VBSCA) are proposed for feature selection from the medical data. In these algorithms, the search space remains continuous, while a binary position vector is generated by two transfer functions S-shaped and V-shaped for each solution. The proposed algorithms are compared with four latest binary optimization algorithms over five medical datasets from the UCI repository. The experimental results confirm that using both bSCA variants enhance the accuracy of classification on these medical datasets compared to four other algorithms.
SYSTEM IDENTIFICATION AND MODELING FOR INTERACTING AND NON-INTERACTING TANK S...ijistjournal
System identification from the experimental data plays a vital role for model based controller design. Derivation of process model from first principles is often difficult due to its complexity. The first stage in the development of any control and monitoring system is the identification and modeling of the system. Each model is developed within the context of a specific control problem. Thus, the need for a general system identification framework is warranted. The proposed framework should be able to adapt and emphasize different properties based on the control objective and the nature of the behavior of the system. Therefore, system identification has been a valuable tool in identifying the model of the system based on the input and output data for the design of the controller. The present work is concerned with the identification of transfer function models using statistical model identification, process reaction curve method, ARX model, genetic algorithm and modeling using neural network and fuzzy logic for interacting and non interacting tank process. The identification technique and modeling used is prone to parameter change & disturbance. The proposed methods are used for identifying the mathematical model and intelligent model of interacting and non interacting process from the real time experimental data.
Kineto-Elasto Dynamic Analysis of Robot Manipulator Puma-560IOSR Journals
Current industrial robots are made very heavy to achieve high Stiffness
which increases the accuracy of their motion. However this heaviness limits the robot speed and in masses the
required energy to move the system. The requirement for higher speed and better system performance makes it
necessary to consider a new generation of light weight manipulators as an alternative to today's massive
inefficient ones. Light weight manipulators require Less energy to move and they have larger payload abilities
and more maneuverability. However due to the dynamic effects of structural flexibility, their control is much
more difficult. Therefore, there is a need to develop accurate dynamic models for design and control of such
systems.This project presents the flexibility and Kineto - Elasto dynamic analysis of robot manipulator
considering deflection. Based on the distributed parameter method, the generalized motion equations of robot
manipulator with flexible links are derived. The final formulation of the motion equations is used to model
general complex elastic manipulators with nonlinear rigid-body and elastic motion in dynamics and it can be
used in the flexibility analysis of robot manipulators and spatial mechanisms. Manipulator end-effector path
trajectory, velocity and accelerations are plotted. Joint torques is to be determined for each joint trajectory
(Dynamics) .Using joint torques, static loading due to link’s masses, masses at joints, and payload, the robot
arms elastic deformations are to be found by using ANSYS-12.0 software package. Elastic compensation is
inserted in coordinates of robotic programming to get exact end-effectors path. A comparison of paths
trajectory of the end-effector is to be plotted. Also variation of torques is plotted after considering elastic
compensation. These torque variations are included in the robotic programming for getting the accurate endeffect
or’s path trajectory
BINARY SINE COSINE ALGORITHMS FOR FEATURE SELECTION FROM MEDICAL DATAacijjournal
A well-constructed classification model highly depends on input feature subsets from a dataset, which may contain redundant, irrelevant, or noisy features. This challenge can be worse while dealing with medical datasets. The main aim of feature selection as a pre-processing task is to eliminate these features and select the most effective ones. In the literature, metaheuristic algorithms show a successful performance to find optimal feature subsets. In this paper, two binary metaheuristic algorithms named S-shaped binary Sine Cosine Algorithm (SBSCA) and V-shaped binary Sine Cosine Algorithm (VBSCA) are proposed for feature selection from the medical data. In these algorithms, the search space remains continuous, while a binary position vector is generated by two transfer functions S-shaped and V-shaped for each solution. The proposed algorithms are compared with four latest binary optimization algorithms over five medical datasets from the UCI repository. The experimental results confirm that using both bSCA variants enhance the accuracy of classification on these medical datasets compared to four other algorithms.
Control chart pattern recognition using k mica clustering and neural networksISA Interchange
Automatic recognition of abnormal patterns in control charts has seen increasing demands nowadays in manufacturing processes. This paper presents a novel hybrid intelligent method (HIM) for recognition of the common types of control chart pattern (CCP). The proposed method includes two main modules: a clustering module and a classifier module. In the clustering module, the input data is first clustered by a new technique. This technique is a suitable combination of the modified imperialist competitive algorithm (MICA) and the K-means algorithm. Then the Euclidean distance of each pattern is computed from the determined clusters. The classifier module determines the membership of the patterns using the computed distance. In this module, several neural networks, such as the multilayer perceptron, probabilistic neural networks, and the radial basis function neural networks, are investigated. Using the experimental study, we choose the best classifier in order to recognize the CCPs. Simulation results show that a high recognition accuracy, about 99.65%, is achieved.
Output feedback trajectory stabilization of the uncertainty DC servomechanism...ISA Interchange
This work proposes a solution for the output feedback trajectory-tracking problem in the case of an uncertain DC servomechanism system. The system consists of a pendulum actuated by a DC motor and subject to a time-varying bounded disturbance. The control law consists of a Proportional Derivative controller and an uncertain estimator that allows compensating the effects of the unknown bounded perturbation. Because the motor velocity state is not available from measurements, a second-order sliding-mode observer permits the estimation of this variable in finite time. This last feature allows applying the Separation Principle. The convergence analysis is carried out by means of the Lyapunov method. Results obtained from numerical simulations and experiments in a laboratory prototype show the performance of the closed loop system.
STATE OBSERVER DESIGNS FOR QUARTER-CAR PASSIVE SUSPENSIONijccmsjournal
This paper presents state observer designs for quarter-car passive suspension. Proposed designs correspond to two theories, full-order state observer and observer on closed-loop system. Those observers are used for states and estimation errors observation. Simulation is done using MATLAB and SIMULINK. MATLAB is used to calculate both feedback gain matrix and observer gain matrix whereas SIMULINK is applied to build state space block. Results show that those observers work effectively and fit observer theories. This work may motivate to continue to other steps of observer designs, observer designs for halfcar and full car passive suspension.
Machine learning systems based on xgBoost and MLP neural network applied in s...aciijournal
In this work, the internal impedance of the lithium-ion battery pack (important measure of the degradation level of the batteries) is estimated by means of machine learning systems based on supervised learning techniques MLP - Multi Layer Perceptron - neural network and xgBoost - Gradient Tree Boosting. Therefore, characteristics of the electric power system, in which the battery pack is inserted, are extracted and used in the construction of supervised models through the application of two different techniques based on Gradient Tree Boosting and Multi Layer Perceptron neural network. Finally, with the application of statistical validation techniques, the accuracy of both models are calculated and used for the comparison between them and the feasibility analysis regarding the use of such models in real systems.
Analysis and Modeling of PID and MRAC Controllers for a Quadruple Tank System...dbpublications
Multivariable systems exhibit complex dynamics because of the interactions between input variables and output variables. In this paper an approach to design auto tuned decentralized PI controller using ideal decoupler and adaptive techniques for controlling a class of multivariable process with a transmission zero. By using decoupler, the MIMO system is transformed into two SISO systems. The controller parameters were adjusted using the Model Reference Adaptive reference Control. In recent process industries, PID and MRAC are the two widely accepted control strategies, where PID is used at regulatory level control and MRAC at supervisory level control. In this project, LabVIEW is used to simulate the PID with Decoupler and MRAC separately and analyze their performance based on steady state error tracking and overshoot.
The beginning of this talk is applicable to a wide audience. Only the last step is JavaScript specific.
Presentation given to UtahJS Meetup (https://utahjs.com/) on July 7, 2016. Introduction of LEAP framework and how to use AWS to create a predictive model and consume prediction with the AWS JavaScript SDK.
2-DOF BLOCK POLE PLACEMENT CONTROL APPLICATION TO:HAVE-DASH-IIBTT MISSILEZac Darcy
In a multivariable servomechanism design, it is required that the output vector tracks a certain reference
vector while satisfying some desired transient specifications, for this purpose a 2DOF control law
consisting of state feedback gain and feedforward scaling gain is proposed. The control law is designed
using block pole placement technique by assigning a set of desired Block poles in different canonical forms.
The resulting control is simulated for linearized model of the HAVE DASH II BTT missile; numerical
results are analyzed and compared in terms of transient response, gain magnitude, performance
robustness, stability robustness and tracking. The suitable structure for this case study is then selected.
Control chart pattern recognition using k mica clustering and neural networksISA Interchange
Automatic recognition of abnormal patterns in control charts has seen increasing demands nowadays in manufacturing processes. This paper presents a novel hybrid intelligent method (HIM) for recognition of the common types of control chart pattern (CCP). The proposed method includes two main modules: a clustering module and a classifier module. In the clustering module, the input data is first clustered by a new technique. This technique is a suitable combination of the modified imperialist competitive algorithm (MICA) and the K-means algorithm. Then the Euclidean distance of each pattern is computed from the determined clusters. The classifier module determines the membership of the patterns using the computed distance. In this module, several neural networks, such as the multilayer perceptron, probabilistic neural networks, and the radial basis function neural networks, are investigated. Using the experimental study, we choose the best classifier in order to recognize the CCPs. Simulation results show that a high recognition accuracy, about 99.65%, is achieved.
Output feedback trajectory stabilization of the uncertainty DC servomechanism...ISA Interchange
This work proposes a solution for the output feedback trajectory-tracking problem in the case of an uncertain DC servomechanism system. The system consists of a pendulum actuated by a DC motor and subject to a time-varying bounded disturbance. The control law consists of a Proportional Derivative controller and an uncertain estimator that allows compensating the effects of the unknown bounded perturbation. Because the motor velocity state is not available from measurements, a second-order sliding-mode observer permits the estimation of this variable in finite time. This last feature allows applying the Separation Principle. The convergence analysis is carried out by means of the Lyapunov method. Results obtained from numerical simulations and experiments in a laboratory prototype show the performance of the closed loop system.
STATE OBSERVER DESIGNS FOR QUARTER-CAR PASSIVE SUSPENSIONijccmsjournal
This paper presents state observer designs for quarter-car passive suspension. Proposed designs correspond to two theories, full-order state observer and observer on closed-loop system. Those observers are used for states and estimation errors observation. Simulation is done using MATLAB and SIMULINK. MATLAB is used to calculate both feedback gain matrix and observer gain matrix whereas SIMULINK is applied to build state space block. Results show that those observers work effectively and fit observer theories. This work may motivate to continue to other steps of observer designs, observer designs for halfcar and full car passive suspension.
Machine learning systems based on xgBoost and MLP neural network applied in s...aciijournal
In this work, the internal impedance of the lithium-ion battery pack (important measure of the degradation level of the batteries) is estimated by means of machine learning systems based on supervised learning techniques MLP - Multi Layer Perceptron - neural network and xgBoost - Gradient Tree Boosting. Therefore, characteristics of the electric power system, in which the battery pack is inserted, are extracted and used in the construction of supervised models through the application of two different techniques based on Gradient Tree Boosting and Multi Layer Perceptron neural network. Finally, with the application of statistical validation techniques, the accuracy of both models are calculated and used for the comparison between them and the feasibility analysis regarding the use of such models in real systems.
Analysis and Modeling of PID and MRAC Controllers for a Quadruple Tank System...dbpublications
Multivariable systems exhibit complex dynamics because of the interactions between input variables and output variables. In this paper an approach to design auto tuned decentralized PI controller using ideal decoupler and adaptive techniques for controlling a class of multivariable process with a transmission zero. By using decoupler, the MIMO system is transformed into two SISO systems. The controller parameters were adjusted using the Model Reference Adaptive reference Control. In recent process industries, PID and MRAC are the two widely accepted control strategies, where PID is used at regulatory level control and MRAC at supervisory level control. In this project, LabVIEW is used to simulate the PID with Decoupler and MRAC separately and analyze their performance based on steady state error tracking and overshoot.
The beginning of this talk is applicable to a wide audience. Only the last step is JavaScript specific.
Presentation given to UtahJS Meetup (https://utahjs.com/) on July 7, 2016. Introduction of LEAP framework and how to use AWS to create a predictive model and consume prediction with the AWS JavaScript SDK.
2-DOF BLOCK POLE PLACEMENT CONTROL APPLICATION TO:HAVE-DASH-IIBTT MISSILEZac Darcy
In a multivariable servomechanism design, it is required that the output vector tracks a certain reference
vector while satisfying some desired transient specifications, for this purpose a 2DOF control law
consisting of state feedback gain and feedforward scaling gain is proposed. The control law is designed
using block pole placement technique by assigning a set of desired Block poles in different canonical forms.
The resulting control is simulated for linearized model of the HAVE DASH II BTT missile; numerical
results are analyzed and compared in terms of transient response, gain magnitude, performance
robustness, stability robustness and tracking. The suitable structure for this case study is then selected.
Adaptive MIMO Fuzzy Compensate Fuzzy Sliding Mode Algorithm: Applied to Secon...CSCJournals
This research is focused on proposed adaptive fuzzy sliding mode algorithms with the adaptation laws derived in the Lyapunov sense. The stability of the closed-loop system is proved mathematically based on the Lyapunov method. Adaptive MIMO fuzzy compensate fuzzy sliding mode method design a MIMO fuzzy system to compensate for the model uncertainties of the system, and chattering also solved by linear saturation method. Since there is no tuning method to adjust the premise part of fuzzy rules so we presented a scheme to online tune consequence part of fuzzy rules. Classical sliding mode control is robust to control model uncertainties and external disturbances. A sliding mode method with a switching control low guarantees the stability of the certain and/or uncertain system, but the addition of the switching control low introduces chattering into the system. One way to reduce or eliminate chattering is to insert a boundary layer method inside of a boundary layer around the sliding surface. Classical sliding mode control method has difficulty in handling unstructured model uncertainties. One can overcome this problem by combining a sliding mode controller and artificial intelligence (e.g. fuzzy logic). To approximate a time-varying nonlinear dynamic system, a fuzzy system requires a large amount of fuzzy rule base. This large number of fuzzy rules will cause a high computation load. The addition of an adaptive law to a fuzzy sliding mode controller to online tune the parameters of the fuzzy rules in use will ensure a moderate computational load. The adaptive laws in this algorithm are designed based on the Lyapunov stability theorem. Asymptotic stability of the closed loop system is also proved in the sense of Lyapunov.
Analysis of Four-Bar Linkages Model using Regressioninventionjournals
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.
2-DOF Block Pole Placement Control Application To: Have-DASH-IIBITT MissileZac Darcy
In a multivariable servomechanism design, it is required that the output vector tracks a certain reference
vector while satisfying some desired transient specifications, for this purpose a 2DOF control law
consisting of state feedback gain and feedforward scaling gain is proposed. The control law is designed
using block pole placement technique by assigning a set of desired Block poles in different canonical forms.
The resulting control is simulated for linearized model of the HAVE DASH II BTT missile; numerical
results are analyzed and compared in terms of transient response, gain magnitude, performance
robustness, stability robustness and tracking. The suitable structure for this case study is then selected.
2-DOF Block Pole Placement Control Application To: Have-DASH-IIBITT MissileZac Darcy
In a multivariable servomechanism design, it is required that the output vector tracks a certain reference
vector while satisfying some desired transient specifications, for this purpose a 2DOF control law
consisting of state feedback gain and feedforward scaling gain is proposed. The control law is designed
using block pole placement technique by assigning a set of desired Block poles in different canonical forms.
The resulting control is simulated for linearized model of the HAVE DASH II BTT missile; numerical
results are analyzed and compared in terms of transient response, gain magnitude, performance
robustness, stability robustness and tracking. The suitable structure for this case study is then selected.
EVALUATING THE PREDICTED RELIABILITY OF MECHATRONIC SYSTEMS: STATE OF THE ARTmeijjournal
Reliability analysis of mechatronic systems is one of the most young field and dynamic branches of research. It is addressed whenever we want reliable, available, and safe systems. The studies of reliability must be conducted earlier during the design phase, in order to reduce costs and the number of prototypes required in the validation of the system. The process of reliability is then deployed throughout the full cycle of development; this process is broken down into three major phases: the predictive reliability, the experimental reliability and operational reliability. The main objective of this article is a kind of portrayal of the various studies enabling a noteworthy mastery of the predictive reliability. The weak points are highlighted, in addition presenting an overview of all approaches existing in quantitative and qualitative modeling and evaluating the reliability prediction is so important for the futures reliability studies, and for academic researches to innovate other new methods and tools. the Mechatronic system is a hybrid system; it is dynamic, reconfigurable, and interactive. The modeling carried out of reliability prediction must take into account these criteria. Several methodologies have been developed in this track of research. In this article, we will try to handle them from a critical angle.
EVALUATING THE PREDICTED RELIABILITY OF MECHATRONIC SYSTEMS: STATE OF THE ARTmeijjournal
Reliability analysis of mechatronic systems is one of the most young field and dynamic branches of research. It is addressed whenever we want reliable, available, and safe systems. The studies of reliability must be conducted earlier during the design phase, in order to reduce costs and the number of prototypes required in the validation of the system. The process of reliability is then deployed throughout the full cycle of development; this process is broken down into three major phases: the predictive reliability, the experimental reliability and operational reliability. The main objective of this article is a kind of portrayal of the various studies enabling a noteworthy mastery of the predictive reliability. The weak points are highlighted, in addition presenting an overview of all approaches existing in quantitative and qualitative modeling and evaluating the reliability prediction is so important for the futures reliability studies, and for academic researches to innovate other new methods and tools. the Mechatronic system is a hybrid system; it is dynamic, reconfigurable, and interactive. The modeling carried out of reliability prediction must take into account these criteria. Several methodologies have been developed in this track of research. In this article, we will try to handle them from a critical angle.
International Journal of Engineering Research and DevelopmentIJERD Editor
Electrical, Electronics and Computer Engineering,
Information Engineering and Technology,
Mechanical, Industrial and Manufacturing Engineering,
Automation and Mechatronics Engineering,
Material and Chemical Engineering,
Civil and Architecture Engineering,
Biotechnology and Bio Engineering,
Environmental Engineering,
Petroleum and Mining Engineering,
Marine and Agriculture engineering,
Aerospace Engineering.
Techniques for the evaluation of complex polynomials with one and two variables are
introduced.Polynomials arise in may areas such as control systems, image and signal processing, coding
theory,electrical networks, etc., and their evaluations are time consuming. This paper introduces new
evaluationalgorithms that are straightforward with fewer arithmetic operations and a fast matrix
exponentiation technique.
Techniques for the evaluation of complex polynomials with one and two variables are introduced.Polynomials arise in may areas such as control systems, image and signal processing, coding
theory,electrical networks, etc., and their evaluations are time consuming. This paper introduces new evaluation algorithms that are straightforward with fewer arithmetic operations and a fast matrix exponentiation technique.
IJREI_Selection model for material handling equipment’s used in flexible manu...Husain Mehdi
Material handling (MH) is important issue for every production site and has a great dependence upon the layout of the system. The important issue in the design of MH system is the selection of material handling equipment for every MH operation. Based upon the literature survey in this area, our purpose is to focus on the evaluation of the MHS-Layout of the system, due to their strong interdependence. The aim of this paper is to present a method for selection of material handling equipment (MHE) for flexible manufacturing system. In the first phase, the system consider major issues, rate of transfer, average time to transfer, flexibility etc., which is essential for the system. In second phase, the system selects the most feasible MHE types for every MH operation in a given application depends upon these major issues using fuzzy logic controller.
An Implementation on Effective Robot Mission under Critical Environemental Co...IJERA Editor
Software engineering is a field of engineering, for designing and writing programs for computers or other electronic devices. A software engineer, or programmer, writes software (or changes existing software) and compiles software using methods that make it better quality. Is the application of engineering to the design, development, implementation, testingand main tenance of software in a systematic method. Now a days the robotics are also plays an important role in present automation concepts. But we have several challenges in that robots when they are operated in some critical environments. Motion planning and task planning are two fundamental problems in robotics that have been addressed from different perspectives. For resolve this there are Temporal logic based approaches that automatically generate controllers have been shown to be useful for mission level planning of motion, surveillance and navigation, among others. These approaches critically rely on the validity of the environment models used for synthesis. Yet simplifying assumptions are inevitable to reduce complexity and provide mission-level guarantees; no plan can guarantee results in a model of a world in which everything can go wrong. In this paper, we show how our approach, which reduces reliance on a single model by introducing a stack of models, can endow systems with incremental guarantees based on increasingly strengthened assumptions, supporting graceful degradation when the environment does not behave as expected, and progressive enhancement when it does.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Dynamics Behaviour of Multi Storeys Framed Structures by of Iterative Method AM Publications
Dynamics refers to the branch of mechanics that deals with the movement of objects and the forces that drive that movement. Structural analysis which covers the behaviour of structures subjected to dynamic (actions having high acceleration) loading. Dynamic loads include people, wind, waves, traffic, earthquakes, and blasts. Any structure can be subjected to dynamic loading. Dynamic analysis can be used to find dynamic displacements, time history, and the frequency content of the load. One analysis technique for calculating the linear response of structures to dynamic loading is a modal analysis. In modal analysis, we decompose the response of the structure into several vibration modes. A mode is defined by its frequency and shape. Structural engineers call the mode with the shortest frequency (the longest period) the fundamental mode. This paper presents a study on mode shape, inertia force, spring force and deflection of multi storied framed structures by comparison of stodola’s and Holzer method. This study involves in examination of theoretical investigations of multi storied framed structures. Overall four storey multi storied framed structures and two methods were analysed & comparison of all the mode shape, inertia force, spring force and deflection at the critical cross-section with same configuration loading by keeping all other parameters constant. The theoretical data are calculated using code IS 1893, IS 4326, IS 13920. The all storey mass and stiffens are analysed under the cantilever condition. The research project aims to provide which method is most accuracy to find the mode shape, spring force deflection and inertia force. The studies reveal that the theoretical investigations Stodola’s method is most accuracy compare to the Holzer method. The maximum mode shape, spring force, spring deflection and inertia force is 87.29%, 80 %, 89% and 72% is higher the Stodola’s method compare than Holzer method in same configuration.
State and fault estimation based on fuzzy observer for a class of Takagi-Suge...IJEECSIAES
Singular nonlinear systems have received wide attention in recent years, and can be found in various applications of engineering practice. On the basis of the Takagi-Sugeno (T-S) formalism, which represents a powerful tool allowing the study and the treatment of nonlinear systems, many control and diagnostic problems have been treated in the literature. In this work, we aim to present a new approach making it possible to estimate simultaneously both non-measurable states and unknown faults in the actuators and sensors for a class of continuous-time Takagi-Sugeno singular model (CTSSM). Firstly, the considered class of CTSSM is represented in the case of premise variables which are non-measurable, and is subjected to actuator and sensor faults. Secondly, the suggested observer is synthesized based on the decomposition approach. Next, the observer’s gain matrices are determined using the Lyapunov theory and the constraints are defined as linear matrix inequalities (LMIs). Finally, a numerical simulation on an application example is given to demonstrate the usefulness and the good performance of the proposed dynamic system.
Similar to Evaluation of matcont bifurcation w jason picardo (20)
Student information management system project report ii.pdfKamal Acharya
Our project explains about the student management. This project mainly explains the various actions related to student details. This project shows some ease in adding, editing and deleting the student details. It also provides a less time consuming process for viewing, adding, editing and deleting the marks of the students.
Saudi Arabia stands as a titan in the global energy landscape, renowned for its abundant oil and gas resources. It's the largest exporter of petroleum and holds some of the world's most significant reserves. Let's delve into the top 10 oil and gas projects shaping Saudi Arabia's energy future in 2024.
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/
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.
Final project report on grocery store management system..pdfKamal Acharya
In today’s fast-changing business environment, it’s extremely important to be able to respond to client needs in the most effective and timely manner. If your customers wish to see your business online and have instant access to your products or services.
Online Grocery Store is an e-commerce website, which retails various grocery products. This project allows viewing various products available enables registered users to purchase desired products instantly using Paytm, UPI payment processor (Instant Pay) and also can place order by using Cash on Delivery (Pay Later) option. This project provides an easy access to Administrators and Managers to view orders placed using Pay Later and Instant Pay options.
In order to develop an e-commerce website, a number of Technologies must be studied and understood. These include multi-tiered architecture, server and client-side scripting techniques, implementation technologies, programming language (such as PHP, HTML, CSS, JavaScript) and MySQL relational databases. This is a project with the objective to develop a basic website where a consumer is provided with a shopping cart website and also to know about the technologies used to develop such a website.
This document will discuss each of the underlying technologies to create and implement an e- commerce website.
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
2. The IUP Journal of Chemical Engineering, Vol. III, No. 3, 2011.
Evaluation of MATCONT of MATLAB for Constructing Bifurcation Diagrams
of Chemical Process Systems
Jason R Picardo and Anand V P Gurumoorthy
Department of Chemical Engineering, VIT University, Vellore, India- 632014
Abstract
As the study of nonlinear system dynamics and bifurcation theory percolate into applied
engineering and biological disciplines, the need for a user friendly, flexible and robust
bifurcation analysis software is evident. MATCONT is a MATLAB toolbox with a graphical
user interface for the continuation of static and dynamic equilibria of nonlinear systems. This
software is relatively recent and has certain advantages over existing continuation software
which include its MATLAB foundation, in addition to new features. In this paper, this
toolbox is evaluated via a well studied illustrative example of an ethanol fermentor which
shows rich nonlinear behavior. Some computed results are displayed and a discussion of the
basic workflow in MATCONT is provided. A few difficulties encountered while studying
nonlinear systems with MATCONT are highlighted. Nevertheless, due to its merits and future
scope, as is discussed, this software is recommended for bifurcation analysis of nonlinear
systems in research as well as in the classroom.
Keywords
MATCONT, bifurcation diagrams, nonlinear systems.
1. Introduction
The advent of chaos and the science of nonlinear dynamic systems has caused the scientific
community to rethink the way it understands nature and its patterns as well as the manner in
which engineering systems are modelled, designed, operated and controlled. In chemical and
process systems engineering, much progress has been made in understanding the complex
nonlinear behavior (multiplicity, oscillations and chaos) of a variety of systems ranging from
the ideal lumped model CSTR to the distributed model packed bed reactor; from the type IV
FCCU units to more complex configurations involving autothermal and reverse flow reactors.
Distillation columns and absorbers have also been studied. Extensive reviews on this subject
are available (Elnashaie and Grace, 2007, Elnashaie et al., 2006, Elnashaie and Elshishini,
1996, Marquardt and Mönnigmann, 2005 and Lee and Chang, 1996).
Industrial interest in these phenomena remains at a low. This is partially due to the
philosophy of avoiding the troublesome operating regions altogether (Elnashaie and Grace,
2007). With the great advancements made in dynamic modelling, computational power and
digital control, the time is ripe to explore the possible advantages of higher yield and
efficiency which may be achieved in these non-conventional dynamic operating regimes. The
implications of these studies on the design, operation and control of chemical/biological
reactors cannot be ignored in a world where the cost of energy and time is on the rise. Among
the life sciences, it is becoming increasingly obvious that dynamic systems theory has a lot to
contribute to our understanding of life and nature. The inherent non-monotonic dependencies
of biological factors on environmental conditions along with the synergetic coupling between
reaction and diffusion phenomena lead to complex dynamics in many biological systems
(Murray, 2002 and Murray, 2003).
3. The IUP Journal of Chemical Engineering, Vol. III, No. 3, 2011.
In order to facilitate the application of the much advanced mathematical theory of bifurcation
and nonlinear dynamics by practically oriented engineers and biologists, a robust, flexible
and user friendly software tool is necessary. Such software would require the integration of
advanced numerical algorithms for solution of differential and difference equations,
bifurcation routines and algorithms for computing various dynamical parameters of interest
(eigenvalues, periods of oscillations, floquet multipliers etc.) as well as an advanced,
interactive visualization package. It could have a similar impact to that of the now hugely
popular computational fluid dynamics (CFD) packages (ANSYS, COMSOL etc.) which have
allowed engineers studying fluid systems to focus on the engineering problem at hand and
experiment with various design and operational possibilities on a computer. This has made
the optimization of processes so much easier and brought the complex mathematics behind
CFD within the reach of non-mathematical workers.
2. Software for Bifurcation Analysis of Nonlinear Systems
Over the past decade and a half, various software packages have emerged with the objective
of aiding investigators in the exploration of dynamical systems via bifurcation analysis. The
initial versions were simple codes made available under the names of AUTO86, LINLBF,
BIFOR2, PATH and LOCA. The next generation saw interactive programs like AUTO97
(Doedel et al., 1997) XPPAUT and LOCBIF. AUTO97 was a very popular tool used by many
workers. Its latest version is AUTO07. XPPAUT is a dynamical systems analysis tool which
interfaces with AUTO. It is popular amongst mathematical biologists (Ermentrout, 2002). For
a windows version, XPP adopted LOCBIF, another continuation toolbox. LOCBIF eventually
evolved into CONTENT (Kuznetsov and Levitin, 1997). The focus of this paper is a
relatively new software package, which has been actively supported and continually
advanced since its introduction (2003), called MATCONT (Dhooge et al., 2003).
MATCONT is an improved, MATLAB version of CONTENT. It is a MATLAB toolbox with
a graphical user interface or GUI (without the GUI it is called MATCONT_CL). MATLAB
is a numerical computing environment which is now widely used in academia and industry
and is popular for its strong matrix based computational capabilities and visualization tools.
MATCONT with its GUI provides a user friendly experience with the added advantage of
generating visualizations directly without using any other software. Further, it can take full
advantage of the advanced capabilities of MATLAB including its robust integrators and
symbolic computation toolbox. A comparison of the features of MATCONT with AUTO and
CONTENT as of 2005 is presented in Table 1 (Kuznetsov, 2005). While most of these
features are not discussed here, the comparison is useful in gauging the merits of MATCONT
vis. a vis. other popular software. It is the goal of this paper to put this promising software to
the test and evaluate its performance as a tool for the non-mathematical worker who is
interested in exploring a dynamical system.
3. Isothermal Stirred Tank Ethanol Fermentor- an Illustrative Example
To evaluate the capabilities of MATCONT, an ethanol fermentor system which exhibits
multiplicity of steady states, oscillation, period doubling and chaos is adopted as an
illustrative example. In this isothermal fermentor system, the ethanol (P) is produced on
fermentation of a sugar based substrate (S) by the microorganism Zymomonas mobilis. The
dynamics of this system were studied in detail by Garhyan et al. (2003). Garhyan and
Elnashaie (2004) went on to demonstrate the new system dynamics when a selective
membrane to separate ethanol was included in the process. Ethanol acts as an inhibitor to the
4. The IUP Journal of Chemical Engineering, Vol. III, No. 3, 2011.
microorganism (Z. mobilis). The incorporation of the membrane was shown to stabilize the
chaotic regime of operation allowing the achievement of higher yields. They also
experimentally verified the model and the predictions of bifurcation theory (Garhyan and
Elnashaie, 2005). They patented their work in 2005 (US 2005/0170483 A1), as an invention
entitled- „Chaotic Fermentation of Ethanol‟. This system has been selected since it is well
studied and provides an example of the practical benefits which result from the application of
bifurcation theory to industrial systems.
Features A C M
Time integration ● ●
Poincaré maps ●
Continuation of equilibria ● ● ●
Detection of branch points and codimension 1 bifurcations of equilibria
(hopf and limit points)
● ● ●
Computation of normal forms for codimension 1 bifurcations of equilibria ● ●
Continuation of codimension 1 bifurcations of equilibria ● ● ●
Detection of codimension 2 equilibrium bifurcations ● ●
Continuation of limit cycles ● ● ●
Detection of branch points and codimension 1 bifurcations of cycles ● ● ●
Continuation of codimension 1 bifurcations of cycles ● ●
Branch switching at equilibrium and cycle bifurcations ● ● ●
Continuation of branching points of equilibria and cycles ●
Computation of normal forms for codimension 1 bifurcations of cycles ●
Detection of codimension 2 bifurcations of cycles ●
Continuation of orbits homoclinic to equilibria ●
Table 1: Comparison between AUTO, CONTENT and MATCONT. Symbols: A- AUTO, C-
CONTENT, M- MATCONT
The system model, without the selective membrane, consists of 4 nonlinear ordinary
differential equations. The model was developed by Jobses and coworkers who also verified
the same experimentally (Jobses et al., 1985, Jobses et al., 1986, Jobses, 1986). An
unsegregated structured two compartment representation was adopted in their work in which
the biomass is described in terms of two components- a key cellular component (e) which is
essential for growth and ethanol formation and the non-active component (X). The synthesis
of (e) has a nonlinear dependence on ethanol concentration. Thus, the inhibition of ethanol is
modelled as an indirect effect on specific growth rate via component (e). The four model
equations are given below and parameter values used in the simulation are given in Table 2
(Garhyan et al., 2003). The state variables are the concentrations of the active component (e),
the inactive biomass (X), the substrate (S) and ethanol (P).
ee
S
es
PP
e
DCDC
CsK
CC
CkCkk
dt
dC
0
2
321
(1)
XX
SS
eSX
DCDC
CK
CC
p
dt
dC
0 (2)
SSXS
SS
eS
SX
S
DCDCCm
CK
CC
Y
p
dt
dC
0
1
(3)
5. The IUP Journal of Chemical Engineering, Vol. III, No. 3, 2011.
PPXP
SS
eS
PX
P
DCDCCm
CK
CC
Y
p
dt
dC
0
1
(4)
The dilution rate (D) and substrate concentration in the feed (Cso) were taken as bifurcation
parameters since they are most easily manipulated during design and manufacturing. A
detailed study involving several bifurcation diagrams was presented by Garhyan et al. (2003).
These results are reproduced using MATCONT. Three of these diagrams are presented below
to aid in the demonstration and discussion of MATCONT‟s capabilities.
Table 2: Parameters used in simulation
parameter description and unit valuea
k1 regression coefficient (h-1
) 16.0
k2 regression coefficient (m3
/kg∙h) 4.97×10-1
k3 regression coefficient (m6
/kg2
∙h) 3.83×10-3
mS maintenance coefficient (substrate utilization) (kg/kg∙h) 2.16
mP maintenance coefficient (product formation) (kg/kg∙h) 1.1
YSX yield coefficient of biomass from substrate (kg/kg) 2.44498×10-2
YPX yield coefficient of product from biomass (kg/kg) 5.26315×10-2
KS saturation constant (kg/m3
) 0.5
p maximum growth rate (h-1
) 1
D dilution rate (h-1
) 4.0
V fermentor volume (m3
) 0.003
CX0,P0,e0 concentrations in feed (kg/m3
) 0,0,0
ρ medium density (kg/m3
) 789
a
Parameter values of the system possessing oscillatory behavior as demonstrated
experimentally by Jobses and coworkers (Jobses et al., 1985, Jobses et al., 1986 and Jobses,
1986). The same parameter values were adopted by Garhyan and coworkers (Garhyan et al.,
2003).
4. Plotting Bifurcation Plots in MATCONT
4.1. One parameter bifurcation plots
One parameter bifurcation plots describe the change in asymptotic behavior of a system as
one parameter is varied while all others are held constant. Fig (1) and (2) show the
bifurcation diagrams when D and CSO are held constant respectively. The presence of an
incomplete hysteresis type static bifurcation in both figures leads to multiple steady states for
certain parameters. One limit point (saddle node point) at which a saddle state and a node
merge and cancel out is seen in each figure. The supercritical hopf bifurcation (H) is the
parameter value at which the steady state becomes dynamically unstable leading to the
gradual onset of stable oscillations (limit cycles) of period one. As the limit cycle approaches
the saddle states, a period doubling bifurcation occurs and the period of oscillations double
from 1 to 2 to 4, finally terminating in a homoclinic bifurcation on colliding with the saddle
states. Note that for these parameter values chaos is not observed as the cycles terminate
homoclinically before the onset of chaos via period doubling.
6. The IUP Journal of Chemical Engineering, Vol. III, No. 3, 2011.
Fig. 1. Bifurcation diagram with D as the bifurcation parameter and CS0 at 150.3 kg/m3
. H-
hopf point, LP- limit point and PD- period doubling. The dotted line denotes unstable
states while the solid line denotes stable states
Fig. 2. Bifurcation diagram with CS0 as the bifurcation parameter and D at 0.045 h-1
.
Nomenclature same as Fig. 1
The major steps involved in plotting these diagrams in MATCONT are described below:
1. Firstly, the system of equations is defined in an interactive window, in which the state
variables and parameters are to be specified and the equations typed out in simple
MATLAB syntax. The MATLAB symbolic toolbox can be used to compute analytic
expressions of derivatives necessary for computation. This significantly improves
computation time especially when high accuracy is desired.
2. In order to begin the continuation of static equilibria, an initial equilibrium point
(steady state) is required. This can be obtained by time integration at the desired
parameter values. This task is made easy by MATCONT which allows the user to
integrate the equations in time using any of MATLAB‟s ordinary differential equation
integrators. This operation can be carried out in the same GUI framework which
eliminates the necessity of writing a separate m-file (MATLAB code file) for the task.
Moreover, once a steady state is reached, the value of the last point can be
interactively selected and the continuation of static equilibria initiated. Garhyan et al.
(2003) have employed a separate set of codes using IMSL FORTRAN routines for
time integration.
7. The IUP Journal of Chemical Engineering, Vol. III, No. 3, 2011.
3. As the continuation proceeds, MATCONT plots the results on a graphic window in
real time. When a bifurcation point is reached MATCONT pauses and returns the
precise location of the point along with dynamic parameters of interest. For e.g., at a
hopf point the first lyapunov coefficient is returned which is characteristic of the
stability of the emergent limit cycle (the emergent cycle is stable for a negative
coefficient as is the case in Fig 1 and 2). This computation results in a static
bifurcation diagram which depicts the steady states (equilibria), their stability and the
hopf and limit points.
4. In order to analyze the behavior of the oscillations as a parameter is changed, a
dynamic bifurcation diagram involving limit cycle continuation is required. The limit
cycle continuation can be started from the hopf point detected in the static
continuation. Else it can also be started from a limit cycle in the same manner as the
static continuation was started from an equilibrium point. In this regard, MATCONT
provides another useful feature in which a limit cycle can be detected from the output
of a time integration, provided a limit cycle does exist for the chosen parameter values
(which can be determined from the static bifurcation diagram) and is asymptotically
reached from the selected initial conditions.
5. The limit cycles are plotted as straight lines extending over the range of state variable
values covered by a cycle. The plotted cycles are spaced much closer in Fig 1 than in
Fig 2. This is due to the different step sizes used for advancing the bifurcation
parameter in each figure which was done for illustratory purposes. The period
doubling bifurcation is detected just before the cycles meet the saddle states after
which a homoclinic termination occurs. Further study of the doubling cycles is best
accomplished by the use of Poincare bifurcation diagrams and since MATCONT does
not have this feature, they are not discussed in the present paper.
6. All the above operations were carried out by a few clicks of the mouse. Numeric
windows can be opened to display important quantities in real time as the
continuation proceeds, such as eigenvalues and floquet multipliers which allow the
determination of the stability of equilibria and limit cycles respectively. The graphical
window can be opened as 2D or 3D plots and the axes variables and their range easily
adjusted. Visualizations can be saved in a variety of high quality formats. Saving
them as a MATLAB figure file (.fig) allows the user to reopen them in MATLAB and
make cosmetic changes as required. The saddle and unstable equilibria branches have
been represented with dotted lines (MATCONT represents them as solid lines) by
making suitable modifications to the figure file.
4.2. Two parameter bifurcation plot
A two parameter bifurcation diagram is useful as a parameter map from which regions of
multiplicity and oscillatory behavior operation can be identified. The bifurcation points such
as hopf and limit points are plotted as two parameters are varied. This gives a broader, though
less detailed picture of multiplicity, oscillations and their interaction via homoclinic
terminations. This diagram for varying values of D and Cso is given below (Fig. 3). The
curves were manually color coded after the image was generated. It is plotted in MATCONT
by selecting a bifurcation point from a one parameter bifurcation diagram and then starting a
two parameter continuation.
8. The IUP Journal of Chemical Engineering, Vol. III, No. 3, 2011.
Fig. 3. Two parameter bifurcation diagram with CS0 and D as bifurcation parameters.
5. Critical Comments
In this section the difficulties encountered while studying various nonlinear systems, using
MATCONT, are discussed.
1. In the analysis of an electrochemical oscillator (Koper and Sluyters, 1991) the model
definition required a conditional statement (if-else). This statement cannot be included
in the GUI system definition window. Hence, it was necessary to make suitable
modifications to the MATLAB m-file which defines the system equations after it was
generated by MATCONT.
2. A novel continuously stirred decanting reactor (CSDR) studied by Khinast et al
(1998) shows rich dynamic behavior. The model consists of 13 differential algebraic
equations (DAEs) with a state dependent mass matrix. Unfortunately, MATCONT
does not have the capability to work with DAE models and could not be used to study
this system.
3. MATCONT does not have option to modify plotting features such as color, number of
points plotted, markers etc. in the GUI. Thus, as mentioned previously, changes must
be made after the figure is plotted which can be tedious. Further, the limit cycles are
represented by a number of points along the cycle which is in contrast to the standard
practice of using markers for the extreme values of oscillation of the dependent
variable. This makes visualization difficult; moreover the number of markers on a
limit cycle cannot be modified even after generating the plot.
6. Conclusion
In this work, the utility of MATCONT as a tool for studying multiplicity and dynamic
oscillations of nonlinear systems has been demonstrated. It has proved to be user friendly
especially for users of MATLAB. Its strengths include convenient access to powerful
visualization tools and integrators and a large variety of features which encompass all the
capabilities of present bifurcation software, with some additions (Table 1). MATCONT has
9. The IUP Journal of Chemical Engineering, Vol. III, No. 3, 2011.
several advanced features, not discussed in this paper, which are helpful in studying complex
dynamical behavior including quasi-periodicity and chaos. Apart from systems of differential
equations it can also be used to study discrete dynamical maps (systems of iterative
difference equations). The possibility of interfacing MATCONT with other MATLAB
toolboxes holds promise for the future. For e.g., a module which interfaces between
MATCONT and the MATLAB optimization toolbox would make an excellent tool for
optimizing systems while considering changes in output due to bifurcations.
The MATCONT team continues to work on adding new features and fixing bugs. This
software is freely available for download at Source Forge
(http://sourceforge.net/projects/matcont) and can be installed and run easily by a MATLAB
user. It is possible to use MATCONT to investigate nonlinear systems with a minimum of
mathematical knowledge, thus allowing practically oriented engineers and biologists to
analyze nonlinear systems with just an intuitive feel for the related mathematics and
knowledge of essential rules and theorems. Such a tool would be particularly useful in
applied engineering studies as well as in classroom courses on nonlinear dynamics and
bifurcation theory.
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