Sharif Digital Repository

This study is concerned with the general motion of a guided flexible launch vehicle idealized as a non-uniform beam under continuous thrust action. The governing equations of motion are derived following the Lagrangian approach and generalized coordinates. The rigid motion consists of the conventional vehicle velocities (rotational and translative), whereas the elastic motion, introduced through modal substitution, represents the vehicle local lateral and transverse displacements relative to a mean body axis system. A complete simulation routine has been developed, which allows for investigation of the influence of variuos vibrational forcing functions, local stiffness changes and the... 

Control of MMA polymerization batch reactor has intensively investigated. The nonlinear and time varying behavior of the system makes its control a challenging task. MPC algorithm is enjoying an increasing application for control of chemical processes. A sequential linearized model based predictive controller based on the DMC algorithm was designed to control the temperature of a batch MMA polymerization reactor. A genetic algorithm (GA) is suggested to optimize the cost function of DMC. The controller performance was studied via simulation. The controller performance in tracking the profile, noise and disturbances rejection is very good  

Ultrasonic motors (USM) possess heavy nonlinear, and load dependent characteristics such as dead-zone and saturation reverse effects, which vary with driving conditions. These properties have made the position/velocity control of USM a difficult and challenging task. In this paper, a generalized model predictive (GPC) controller for precise USM position control is suggested. Simulation results indicate improved performance of the motor for both set point tracking and disturbance rejection. Since the motor and the controller both are of type one, the applied saturation would cause in wind up phenomenon. This drawback is removed by implementing the Quadratic GPC controller. © 2004 IEEE  

The purpose of the paper presented here is to control the fluid temperature that flows in the inner tube of a tubular heat exchanger system by means of the fluid flow pressure. This system in its present form has a specified range of the coefficients' variation, while the temperature of the outlet fluid could generally be controlled by either the temperature or the flow of the inlet fluid flowing in the shell tube. The control realization for the system presented is often complicated, because the variation of the system coefficients and the reference signal must be thoroughly covered by the control action. In such a case, the system behaviour must first be represented by the multiple... 

The purpose of this paper is to deal with a novel intelligent predictive control scheme using the multiple models strategy with its application to an industrial tubular heat exchanger system. The main idea of the strategy proposed here is to represent the operating environments of the system, which have a wide range of variation in the span of time by several local explicit linear models. In line with this strategy, the well-known linear generalized predictive control (LGPC) schemes are initially designed corresponding to each one of the linear models of the system. After that, the best model of the system and the LGPC control action are precisely identified, at each instant of time, by an... 

The purpose of the paper presented here is to deal with the well-known linear generalized predictive control (LGPC) scheme based on multiple models strategy for a tubular heat exchanger system. In this control strategy, the operating environments of the system are first represented by multiple explicit linear models. Then the best model of the system is precisely identified by a novel intelligent decision mechanism (IDM), where is organized in association with the fuzzy adaptive Kalman filter and recursive weight generator approaches. As soon as the best model of the system is identified, the corresponding predictive control action is instantly implemented on the system. In order to... 

In this paper, a decentralized model predictive control approach is proposed for discrete linear systems with a high number of inputs and states. The system is decomposed into several interacting subsystems. The interaction among subsystems is modeled as external disturbances. Then, using the concept of robust positively invariant ellipsoids, a robust model predictive control law is obtained for each subsystem solving several linear matrix inequalities. Maintaining the recursive feasibility while considering the attenuation of mutual coupling at each time step and the stability of the overall system are investigated. Moreover, an illustrative simulation example is provided to demonstrate the... 

Predictive business process monitoring is concerned with predicting the process-related Key Performance Indicators (KPIs) and forecasting the future behavior of the process in realtime. Despite the amount of work contributed by researches to this field of research, the performance of existing solutions is not desirable for practical settings. Indeed, these approaches are typically context-unaware and lack generality. However, in real-life use cases, business processes are not isolated from the surrounding working environment, and thus they are influenced by many contextual events, such as events generated by IoT devices. To the best of our knowledge, there is no comprehensive study... 

One of the most important problems in teleoperation systems is time delay and packet loss in the communication channel, which can affect transparency and stability. One way to overcome the time delay effects in a teleoperation system is to predict the master-side motion. In this way, when data is received in the slave side, it will be considered as the current position of the master robot and, thus, complete transparency could be achieved. The majority of the previous works regarding operator position prediction have considered known and constant time delay in the system; however, in the real applications, time delay is unknown and variable. In this paper, an adaptive online prediction... 

In this paper, a new strategy for control of tubular heat exchanger system has been presented. The proposed approach is realized using generalized predictive control (GPC) scheme and multiple models method. By using the multiple models approach, different operating environments of the system are first modeled. Then in each instant of time, the best model of the system is identified by a fuzzy decision mechanism. Finally, the best control input is chosen appropriately. For demonstrating the effectiveness of the proposed approach, simulations are done and the results are compared with those obtained using the single model predictive controller approach. The results can verify the validity of... 

This paper presents two effective methods to reduce power consumption of branch target buffer (BTB): 1) the first method is based on storing distance to next branch address in tag array instead of storing whole branch address, 2) the second method is to use a new field in data array of BTB namely Next Branch Distance (NBD) which holds distance of next branch address from current branch address. When a new hit is performed in BTB, based on NBD field, there would be no access through NBD number of instructions, so BTB can be shutdown not to consume power. The new architecture does not impose extra delay and reduction in prediction accuracy. Both methods were implemented and simulated using... 

This paper presents two effective methods to reduce power consumption of branch target buffer (BTB): 1) the first method is based on storing distance to next branch address in tag array instead of storing whole branch address, 2) the second method is to use a new field in data array of BTB namely Next Branch Distance (NBD) which holds distance of next branch address from current branch address. When a new hit is performed in BTB, based on NBD field, there would be no access through NBD number of instructions, so BTB can be shutdown not to consume power. The new architecture does not impose extra delay and reduction in prediction accuracy. Both methods were implemented and simulated using... 

Experimental permeability and diffusivity values for CO2 and CH4 through imidazolium-based ionic liquid 1-hexyl-3-methylimidazolium bis(trifluoromethanesulfonyl)imide ([hmim][Tf2N]) were determined in the temperature range of 300-320K using temperature correction factor defined in our previous study. According to literature, experimental values of permeability and diffusivity obtained in this study for CO2 in [hmim][Tf2N], showed good agreement with predictive models reported by other researchers. In addition, experimental values of permeability and diffusivity for CH4 in [hmim][Tf2N] as a function of pressure have been reported in this study. Considering the results of present study and... 

Abstract This paper proposes a bumpless transfer method to overcome the problem of switching jumps in a scheduled robust model predictive control approach. A scheduled robust model predictive controller implements a set of local robust model predictive controllers based on an on-line switching strategy. This method could enlarge the domain of attraction efficiently but the transient response might be hampered by spikes appearing at the moment of switching between adjacent local controllers. The proposed algorithm could enhance the transient response by implementing some intermediate controllers augmented to the main control scheme to solve the problem without needing more computation. The... 

The Proton Exchange Membrane Fuel Cell (PEMFC) control system has an important effect on operation of cell. Traditional controllers couldn't lead to acceptable responses because of time- change, long- hysteresis, uncertainty, strong- coupling and nonlinear characteristics of PEMFCs, so an intelligent or adaptive controller is needed. In this paper a neural network predictive controller have been designed to control the voltage of at the presence of fluctuations of temperature. The results of implementation of this designed NN Predictive controller on a dynamic electrochemical model of a small size 5 KW, PEM fuel cell have been simulated by MATLAB/SIMULINK  

Nanofluids viscosity is one of the most important thermophysical properties in nanofluids usage especially in chemical and petroleum engineering applications. So it is highly desirable to predict the viscosity of nanofluids accurately. Experimental measurements are impossible in most situations and present models are not comprehensive and efficient especially for high temperature, high volume concentration and high viscosity values. In this study, a new correlation has been developed based on the comprehensive database of water based Al2O3, TiO2, SiO2 and CuO nanofluids viscosity data found in literature. The proposed correlation uses temperature, nanoparticle size, nanoparticle volumetric... 

In this paper, two online path planning methods are presented for SURENA III humanoid robot by using model predictive control scheme. The methods are general control schemes which can generate the online motions for walking of a humanoid robot. For lowering computational costs a three dimensional linear inverted pendulum model is used instead of the full dynamical model of the robot. The generated trajectories are then used for computing the zero-moment point (ZMP) of the robot and the joint torques. The resulted joint torques of the two methods are compared to torques obtained from Genetic Algorithm (GA) path planning method presented for SURENA III humanoid robot in previous studies. The... 

Complex piers (CPs), consisting of a column, pile cap and pile group, are commonly built as foundations for hydraulic and marine structures. Scour-hole development around CPs is studied in this paper. A total of 52 tests is carried out on 4 CP models, with experiments durations ranging from 24 to 120 h. All of the available experimental data for clear-water scour around CPs including the collected data of the present study and those previously published are reviewed and combined into a database. A special case of bridge piers with deep foundation or caisson instead of pile caps is also considered, which is herein called compound piers. The database contains 367 experiments for CPs and 162... 

Electric Vehicles (EVs) will be used rampantly in future transportation system. Although the uncontrolled charging of these EVs will be threatening for the stability of the grid, a compatible energy trading policy may provide beneficial services to the grid as well as preserving the sustainability of the system. In this paper, by taking advantage of block rate tariff, a wholesale pricing policy is introduced. A multi-objective approach is utilized to address the cost reduction and load leveling services concurrently. Due to the high computational complexity of a centralized problem, a game theoretic approach is exerted in order to design decentralized controllers for EVs. Moreover, an MPC...