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In this paper, we employ a dynamics modeling method for investigating a multi-body dynamics system consisting of an unmanned surface vehicle (USV), an umbilical cable (UC), and an autonomous underwater vehicle (ROV). The ROV, which is towed by a UC for the purposes of exploration or mine hunting, is modeled with a Six-Degree-of-Freedom (6-DOF) equation of motion that reflects its hydrodynamics characteristics...
Purpose of this study was to develop a fall prediction model based on various variables with linear and nonlinear analysis using postural sway. The included variables in the regression model were Sample Entropy, Largest Lyapunov exponent and Hurst exponent in anterior-posterior direction, which are nonlinear variables. Accuracy of this regression model for fall prediction was 81.9%.
The objective of this research is to analyze and evaluate the performance of the proposed shunt-series switched multi-functional grid-connected inverter (SSS-MFGCI) for mitigating unbalanced voltage sag and swell problem in distributed generation system or microgrid. Three quantitative performance evaluation factors, namely fault level factor, rating factor, and grid stiffness factor, are proposed...
This paper presents the design and a novel rotor shape of a 3 kW, 25000 rpm permanent magnet assisted synchronous reluctance motor (PMa-SynRM) based on a low speed benchmark model. Multiphase PMa-SynRM can operate with low torque ripple, reduced magnet volume and extended field weakening region which makes it a potential candidate for high speed motor design. However, the challenge of high speed PMa-SynRM...
A coupled fluid-mechanical dynamics analysis method is presented in this paper. A commercial simulation package is used for mechanical dynamics calculation, which employs user-developed dynamic-link library files as routine interface to enable data exchange with gas pressure calculation. This part is responsible for the calculation of mechanical motion, including the tripping of trip trigger, releasing...
Semiconductor manufacture companies make an effort to reduce the test time for the test cost reduction until mass production starts. One of the effective test time reduction techniques is to improve the parallel test efficiency with the test program optimization by debugging on the automatic test equipment (ATE). However, given the time constraints of production schedules, the available time for the...
In recent decades, hardware security has played a more and more important role. Among various types of hardware, the Physical Unclonable Function (PUF) has been considered as security primitives to generating keys in order to keep systems safe, authentic, informative, and identified. Recently, leveraging the physics of emerging devices to implement on PUF has long been envisioned. However, current...
In this paper, a nonlinear speed control scheme based on the sliding mode control (SMC) for variable speed operations of diesel engine-generator (EG) sets is proposed. At first, the mathematical model representing the relation among engine speed, governor current and mechanical torque is derived. Then, the SMC-based speed controller for EG is designed. The proposed method can provide the fast reference...
An alternative high-speed link modeling and analysis methodology is suggested based on the system identification approach, instead of using industry standard models. This approach is especially beneficial for the system design/analysis in that the steps are simple and the methodology is well established in other discipline. The modeling of link components like Tx/Redriver/Rx is performed with the...
We report a highly-sensitive plasmonic nano-ring transistor for monolithic terahertz (THz) active antenna. By designing an ultimate asymmetric transistor on a metal-gate structure, more enhanced (180 times) channel charge asymmetry has been obtained in comparison with a bar-type asymmetric transistor of our previous work. In addition, by exploiting ring-type transistor itself as a monolithic circular...
It is well known that the activation of plantar flexors have a strong influence on the walking speed. If the gait speed can be predicted using this relationship, a post-stroke hemiparetic patient could control a gait rehabilitation robot according to his or her gait intention, and the robotic gait rehabilitation effect could be further improved. To find out this relationship, 9 nondisabled subjects...
The two phase flow parametric study on the air induction nozzle is presented with water and air as working fluid where liquid was supplied at the pre-orifice with various inlet pressures ranged from 3 to 6 bar. The interaction between air and water at molecular level at the orifice exit leads to forming a strong shear layer intensified with increase in inlet pressure. Mean diameter and void fraction...
Key resources are important, influential and powerful performers in a social network structure. Identifying them in the social network of a business process activity is beneficial and rewarding. One of the most effective centrality measures for identification of the key nodes in a social network is to rank resources based on a selection of criteria. PageRank is a representative example of such algorithms,...
This paper analyzes power generation from sea waves by using power conditioning system and linear permanent magnet generator. A buoy is placed on the ocean surface and connected to the linear generator. The wave energy is carried out from the movement of a buoy. An electrical conversion system is needed between the generator and the grid. For an analysis of the power system, the modeling of the linear...
Renewable energy is intermittent because of weather conditions and geographical features. The fluctuation of the output of the renewable generator must be mitigated because it imposes strain on the system and adversely affects power quality. In this paper, we focus on mitigating the output fluctuation of the solar power generator using battery energy storage system(BESS). To satisfy tight conditions...
This paper proposes the spacecraft attitude control algorithm based on Convolutional Neural Networks (CNNs) for spacecraft's docking port alignment. the CNN model is used in order to recognize the attitude of target spacecraft and the attitude controller aligns the docking port of the target spacecraft using the target spacecraft's attitude information obtained from CNN. Three-Dimensional spacecraft...
Studying human motor control requires innovative engineering solutions including robots. For example, the motor control task(s) must be reliable before using system identification (SYSID) tools to estimate any motor control descriptors, e.g. neurophysiological parameters. Robots can improve the experiment reliability in contrast to passive devices, e.g. seated balance on a hemisphere. First, we present...
The super-coiled polymer (SCP) actuator, made from silver coated fishing line which can be actuated by an electric current, is a recently discovered artificial muscle with interesting properties such as large contraction (20%–50%), high power density (5.3 kW/kg), light weight and extremely low cost. In this paper, a differential hysteresis model with adaptive parameter estimation is presented for...
In this paper, a finite time continuous terminal sliding mode controller with perturbation estimation for a Stewart platform is developed. Based on the robot's dynamic model, which was formulated in the active joint space, a continuous sliding mode type control law was designed to specify a finite time reaching law and a finite time sliding surface. In addition, it incorporates an estimated uncertainty...
This paper presents an UAV control scheme under mission specifications. A mission is specified in linear temporal logic (LTL) formula. A point-to-point local planner is designed to search a trajectory satisfying the given mission specification so that the low-level controller of a quadrotor can follow the trajectory. The designed planner adopts control Lyapunov functions, and has the following properties:...
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