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Sample records for hierarchical hybrid control

  1. Hierarchical and hybrid energy storage devices in data centers: Architecture, control and provisioning

    Science.gov (United States)

    Xue, Yuankun; Bogdan, Paul; Tang, Jian; Wang, Yanzhi; Lin, Xue

    2018-01-01

    Recently, a new approach has been introduced that leverages and over-provisions energy storage devices (ESDs) in data centers for performing power capping and facilitating capex/opex reductions, without performance overhead. To fully realize the potential benefits of the hierarchical ESD structure, we propose a comprehensive design, control, and provisioning framework including (i) designing power delivery architecture supporting hierarchical ESD structure and hybrid ESDs for some levels, as well as (ii) control and provisioning of the hierarchical ESD structure including run-time ESD charging/discharging control and design-time determination of ESD types, homogeneous/hybrid options, ESD provisioning at each level. Experiments have been conducted using real Google data center workloads based on realistic data center specifications. PMID:29351553

  2. Hierarchical and hybrid energy storage devices in data centers: Architecture, control and provisioning.

    Science.gov (United States)

    Sun, Mengshu; Xue, Yuankun; Bogdan, Paul; Tang, Jian; Wang, Yanzhi; Lin, Xue

    2018-01-01

    Recently, a new approach has been introduced that leverages and over-provisions energy storage devices (ESDs) in data centers for performing power capping and facilitating capex/opex reductions, without performance overhead. To fully realize the potential benefits of the hierarchical ESD structure, we propose a comprehensive design, control, and provisioning framework including (i) designing power delivery architecture supporting hierarchical ESD structure and hybrid ESDs for some levels, as well as (ii) control and provisioning of the hierarchical ESD structure including run-time ESD charging/discharging control and design-time determination of ESD types, homogeneous/hybrid options, ESD provisioning at each level. Experiments have been conducted using real Google data center workloads based on realistic data center specifications.

  3. Frequency Stability of Hierarchically Controlled Hybrid Photovoltaic-Battery-Hydropower Microgrids

    DEFF Research Database (Denmark)

    Guan, Yajuan; Quintero, Juan Carlos Vasquez; Guerrero, Josep M.

    2015-01-01

    is derived to analyze the system stability of the hybrid microgrid. The simulation results show system frequency and voltage stability for a hybrid microgrid demonstration which includes 2 MWp PV installations, a 15.2 MWh battery system, and a 12.8 MVA hydropower plant. Experimental results on a small......Hybrid photovoltaic (PV) -battery-hydropower microgrids can be considered to enhance electricity accessibility and availability in remote areas. However, the coexistence of different renewable energy sources with different inertias and control strategies may affect system stability. In this paper......, a hierarchical controller for hybrid PV-battery-hydropower microgrid is proposed in order to achieve the parallel operation of hydropower and PV-battery system with different rates, and to guarantee power sharing performance among PV voltage controlled inverters, while the required power to hydropower...

  4. A robust H∞ control-based hierarchical mode transition control system for plug-in hybrid electric vehicle

    Science.gov (United States)

    Yang, Chao; Jiao, Xiaohong; Li, Liang; Zhang, Yuanbo; Chen, Zheng

    2018-01-01

    To realize a fast and smooth operating mode transition process from electric driving mode to engine-on driving mode, this paper presents a novel robust hierarchical mode transition control method for a plug-in hybrid electric bus (PHEB) with pre-transmission parallel hybrid powertrain. Firstly, the mode transition process is divided into five stages to clearly describe the powertrain dynamics. Based on the dynamics models of powertrain and clutch actuating mechanism, a hierarchical control structure including two robust H∞ controllers in both upper layer and lower layer is proposed. In upper layer, the demand clutch torque can be calculated by a robust H∞controller considering the clutch engaging time and the vehicle jerk. While in lower layer a robust tracking controller with L2-gain is designed to perform the accurate position tracking control, especially when the parameters uncertainties and external disturbance occur in the clutch actuating mechanism. Simulation and hardware-in-the-loop (HIL) test are carried out in a traditional driving condition of PHEB. Results show that the proposed hierarchical control approach can obtain the good control performance: mode transition time is greatly reduced with the acceptable jerk. Meanwhile, the designed control system shows the obvious robustness with the uncertain parameters and disturbance. Therefore, the proposed approach may offer a theoretical reference for the actual vehicle controller.

  5. Cellular Decomposition Based Hybrid-Hierarchical Control Systems with Applications to Flight Management Systems

    Science.gov (United States)

    Caines, P. E.

    1999-01-01

    The work in this research project has been focused on the construction of a hierarchical hybrid control theory which is applicable to flight management systems. The motivation and underlying philosophical position for this work has been that the scale, inherent complexity and the large number of agents (aircraft) involved in an air traffic system imply that a hierarchical modelling and control methodology is required for its management and real time control. In the current work the complex discrete or continuous state space of a system with a small number of agents is aggregated in such a way that discrete (finite state machine or supervisory automaton) controlled dynamics are abstracted from the system's behaviour. High level control may then be either directly applied at this abstracted level, or, if this is in itself of significant complexity, further layers of abstractions may be created to produce a system with an acceptable degree of complexity at each level. By the nature of this construction, high level commands are necessarily realizable at lower levels in the system.

  6. Frequency Stability of Hierarchically Controlled Hybrid Photovoltaic-Battery-Hydropower Microgrids

    DEFF Research Database (Denmark)

    Guan, Yajuan; Vasquez, Juan Carlos; Guerrero, Josep M.

    2014-01-01

    Hybrid photovolvaic battery-hydropower microgrids can increase electricity accessibility and availability in remote areas. In those microgrids with grid-connected and islanded modes capabilities, seamless transition between both modes is needed as well. However, the different resources with conve......Hybrid photovolvaic battery-hydropower microgrids can increase electricity accessibility and availability in remote areas. In those microgrids with grid-connected and islanded modes capabilities, seamless transition between both modes is needed as well. However, the different resources...... with conventional constant P/Q and P/V controls coexisting in the microgrid may affect frequency stability. In this paper, a hierarchical control is proposed to perform power sharing among PV voltage source inverters (VSIs), while injecting the dispatched power to the main grid. Further, frequency stability...... analysis is presented based on small signal models of the hybrid PV-HP microgrid, including 2 MWp PV station, 15.2 MWh battery storage system, and 12.8 MVA hydropower plant. Simulation results of the microgrid and experimental results on a scaled-down laboratory prototype verify the effectiveness...

  7. Hybrid and hierarchical composite materials

    CERN Document Server

    Kim, Chang-Soo; Sano, Tomoko

    2015-01-01

    This book addresses a broad spectrum of areas in both hybrid materials and hierarchical composites, including recent development of processing technologies, structural designs, modern computer simulation techniques, and the relationships between the processing-structure-property-performance. Each topic is introduced at length with numerous  and detailed examples and over 150 illustrations.   In addition, the authors present a method of categorizing these materials, so that representative examples of all material classes are discussed.

  8. Hierarchical Control Strategy of Heat and Power for Zero Energy Buildings including Hybrid Fuel Cell/Photovoltaic Power Sources and Plug-in Electric Vehicle

    DEFF Research Database (Denmark)

    Ghiasi, Mohammad Iman; Aliakbar Golkar, Masoud; Hajizadeh, Amin

    2016-01-01

    This paper presents a hierarchical control strategy for heat and electric power control of a building integrating hybrid renewable power sources including photovoltaic, fuel cell and battery energy storage with Plug-in Electric Vehicles (PEV) in smart distribution systems. Because of the controll......This paper presents a hierarchical control strategy for heat and electric power control of a building integrating hybrid renewable power sources including photovoltaic, fuel cell and battery energy storage with Plug-in Electric Vehicles (PEV) in smart distribution systems. Because...

  9. Hierarchical Control Strategy of Heat and Power for Zero Energy Buildings including Hybrid Fuel Cell/Photovoltaic Power Sources and Plug-in Electric Vehicle

    DEFF Research Database (Denmark)

    Ghiasi, Mohammad Iman; Aliakbar Golkar, Masoud; Hajizadeh, Amin

    2016-01-01

    complexities and uncertainties in this kind of hybrid system, a hybrid supervisory control with an adaptive fuzzy sliding power control strategy is proposed to regulate the amount of requested fuel from a fuel cell power source to produce the electrical power and heat. Then, simulation results are used......This paper presents a hierarchical control strategy for heat and electric power control of a building integrating hybrid renewable power sources including photovoltaic, fuel cell and battery energy storage with Plug-in Electric Vehicles (PEV) in smart distribution systems. Because...... of the controllability of fuel cell power, this power sources plays the main role for providing heat and electric power to zero emission buildings. First, the power flow structure between hybrid power resources is described. To do so, all necessary electrical and thermal equations are investigated. Next, due to the many...

  10. Frequency-Division Power Sharing and Hierarchical Control Design for DC Shipboard Microgrids with Hybrid Energy Storage Systems

    DEFF Research Database (Denmark)

    Jin, Zheming; Meng, Lexuan; Quintero, Juan Carlos Vasquez

    2017-01-01

    Due to the increasing need to reduce the cost and emission of ships, shipboard applications are calling advanced technologies to go onboard. Recently, cleaner power sources (i.e. gas turbines, fuel cell, solar and wind power), energy storage, advanced control and power/energy management......, the operation point of prime movers can be maintained at their optimal area, meanwhile, different energy storages will provide characteristic based response. On the basis of the proposed power sharing method, voltage restoration and power management-level control methods are also introduced to form hierarchical...... are introduced to meet the new requirement, and therefore, making shipboard power system more like a microgrid. In this paper, a frequency-division based power sharing method is proposed to solve the contradiction between fuel efficiency and dynamic load conditions of marine vessels. With effective design...

  11. Hybrid titanium/biodegradable polymer implants with an hierarchical pore structure as a means to control selective cell movement.

    Directory of Open Access Journals (Sweden)

    Nihal Engin Vrana

    Full Text Available UNLABELLED: In order to improve implant success rate, it is important to enhance their responsiveness to the prevailing conditions following implantation. Uncontrolled movement of inflammatory cells and fibroblasts is one of these in vivo problems and the porosity properties of the implant have a strong effect on these. Here, we describe a hybrid system composed of a macroporous titanium structure filled with a microporous biodegradable polymer. This polymer matrix has a distinct porosity gradient to accommodate different cell types (fibroblasts and epithelial cells. The main clinical application of this system will be the prevention of restenosis due to excessive fibroblast migration and proliferation in the case of tracheal implants. METHODOLOGY/PRINCIPAL FINDINGS: A microbead-based titanium template was filled with a porous Poly (L-lactic acid (PLLA body by freeze-extraction method. A distinct porosity difference was obtained between the inner and outer surfaces of the implant as characterized by image analysis and Mercury porosimetry (9.8±2.2 µm vs. 36.7±11.4 µm, p≤0.05. On top, a thin PLLA film was added to optimize the growth of epithelial cells, which was confirmed by using human respiratory epithelial cells. To check the control of fibroblast movement, PKH26 labeled fibroblasts were seeded onto Titanium and Titanium/PLLA implants. The cell movement was quantified by confocal microscopy: in one week cells moved deeper in Ti samples compared to Ti/PLLA. CONCLUSIONS: In vitro experiments showed that this new implant is effective for guiding different kind of cells it will contact upon implantation. Overall, this system would enable spatial and temporal control over cell migration by a gradient ranging from macroporosity to nanoporosity within a tracheal implant. Moreover, mechanical properties will be dependent mainly on the titanium frame. This will make it possible to create a polymeric environment which is suitable for cells

  12. Hybrid Titanium/Biodegradable Polymer Implants with an Hierarchical Pore Structure as a Means to Control Selective Cell Movement

    Science.gov (United States)

    Vrana, Nihal Engin; Dupret, Agnès; Coraux, Christelle; Vautier, Dominique; Debry, Christian; Lavalle, Philippe

    2011-01-01

    In order to improve implant success rate, it is important to enhance their responsiveness to the prevailing conditions following implantation. Uncontrolled movement of inflammatory cells and fibroblasts is one of these in vivo problems and the porosity properties of the implant have a strong effect on these. Here, we describe a hybrid system composed of a macroporous titanium structure filled with a microporous biodegradable polymer. This polymer matrix has a distinct porosity gradient to accommodate different cell types (fibroblasts and epithelial cells). The main clinical application of this system will be the prevention of restenosis due to excessive fibroblast migration and proliferation in the case of tracheal implants. Methodology/Principal Findings A microbead-based titanium template was filled with a porous Poly (L-lactic acid) (PLLA) body by freeze-extraction method. A distinct porosity difference was obtained between the inner and outer surfaces of the implant as characterized by image analysis and Mercury porosimetry (9.8±2.2 µm vs. 36.7±11.4 µm, p≤0.05). On top, a thin PLLA film was added to optimize the growth of epithelial cells, which was confirmed by using human respiratory epithelial cells. To check the control of fibroblast movement, PKH26 labeled fibroblasts were seeded onto Titanium and Titanium/PLLA implants. The cell movement was quantified by confocal microscopy: in one week cells moved deeper in Ti samples compared to Ti/PLLA. Conclusions In vitro experiments showed that this new implant is effective for guiding different kind of cells it will contact upon implantation. Overall, this system would enable spatial and temporal control over cell migration by a gradient ranging from macroporosity to nanoporosity within a tracheal implant. Moreover, mechanical properties will be dependent mainly on the titanium frame. This will make it possible to create a polymeric environment which is suitable for cells without the need to meet mechanical

  13. Hierarchical Robust and Adaptive Nonlinear Control Design

    National Research Council Canada - National Science Library

    Haddad, Wassim

    2003-01-01

    The authors proposed the development of a general multiechelon hierarchical nonlinear switching control design framework that minimizes control law complexity subject to the achievement of control law robustness...

  14. Frequency-Division Power Sharing and Hierarchical Control Design for DC Shipboard Microgrids with Hybrid Energy Storage Systems

    OpenAIRE

    Jin, Zheming; Meng, Lexuan; Quintero, Juan Carlos Vasquez; Guerrero, Josep M.

    2017-01-01

    Due to the increasing need to reduce the cost and emission of ships, shipboard applications are calling advanced technologies to go onboard. Recently, cleaner power sources (i.e. gas turbines, fuel cell, solar and wind power), energy storage, advanced control and power/energy management are introduced to meet the new requirement, and therefore, making shipboard power system more like a microgrid. In this paper, a frequency-division based power sharing method is proposed to solve the contradic...

  15. Hierarchically structured transparent hybrid membranes by in situ growth of mesostructured organosilica in host polymer

    Science.gov (United States)

    Vallé, Karine; Belleville, Philippe; Pereira, Franck; Sanchez, Clément

    2006-02-01

    The elaborate performances characterizing natural materials result from functional hierarchical constructions at scales ranging from nanometres to millimetres, each construction allowing the material to fit the physical or chemical demands occurring at these different levels. Hierarchically structured materials start to demonstrate a high input in numerous promising applied domains such as sensors, catalysis, optics, fuel cells, smart biologic and cosmetic vectors. In particular, hierarchical hybrid materials permit the accommodation of a maximum of elementary functions in a small volume, thereby optimizing complementary possibilities and properties between inorganic and organic components. The reported strategies combine sol-gel chemistry, self-assembly routes using templates that tune the material's architecture and texture with the use of larger inorganic, organic or biological templates such as latex, organogelator-derived fibres, nanolithographic techniques or controlled phase separation. We propose an approach to forming transparent hierarchical hybrid functionalized membranes using in situ generation of mesostructured hybrid phases inside a non-porogenic hydrophobic polymeric host matrix. We demonstrate that the control of the multiple affinities existing between organic and inorganic components allows us to design the length-scale partitioning of hybrid nanomaterials with tuned functionalities and desirable size organization from ångström to centimetre. After functionalization of the mesoporous hybrid silica component, the resulting membranes have good ionic conductivity offering interesting perspectives for the design of solid electrolytes, fuel cells and other ion-transport microdevices.

  16. Development and investigation of functional hierarchical hybrid materials

    Science.gov (United States)

    Athauda, Thushara J.

    In this dissertation, a series of hierarchical hybrid materials were developed and their process-morphology-activity relationship was studied. In this context, zinc oxide was used as a model metal-oxide semiconductor for the development of branched hierarchical nanostructures on various flexible substrates including cotton, nylon, and electrospun organic and inorganic nanofibers. In all cases, well-defined, radially oriented, highly dense, uniform, and single crystalline arrays of ZnO nanostructures were successfully grown using an optimized hydrothermal growth strategy. This process involves seed solution treatment of a substrate with ZnO nanocrystals that will form nucleation sites for subsequent anisotropic growth of single crystalline ZnO nanowires by incubation in the growth solution. All ZnO nanowires exhibit wurtzite crystal structure oriented along the c-axis which was confirmed by XRD analysis. Seed-to-growth solution concentration ratio ([S]/[G]) was determined to be the most important process parameter on the morphology of the resulting nanostructures when applied to cotton and nylon surfaces. Increase in the [S]/[G] values resulted in the amount of ZnO grown on the surfaces to drop significantly, which also resulted in a morphological transform from nanorods to needle-like structures. Consequently, a strong dependency of the physical, optical, and electrochemical properties of the resulting materials was observed. In addition, room temperature photoluminescence measurements revealed that the band-gap of ZnO widened as the morphology changed from nanorods to nanoneedles. Additional analyses revealed that cotton bearing ZnO nanorods exhibits a lower propensity for contact transfer of E. coli than unmodified cotton fabric. Moreover, studies with nonwoven nanofibers generated by electrospinning revealed that the morphology of the branched nanostructures was also controlled by the density of the underlying fibrous platform. The amount of ZnO nanorods grown

  17. Hierarchical control architecture for mobile offshore bases

    OpenAIRE

    Girard, A; Karl Hedrick; João Tasso de Figueiredo Borges de Sousa

    2000-01-01

    A hierarchical architecture for Mobile Offshore Bases (MOB) control is presented. By a control architecture we mean a specific way of organizing the motion control and navigation functions performed by the MOB. It is convenient to organize the functions into hierarchical layers. This way, a complex design problem is partitioned into a number of more manageable sub-problems that are addressed in separate layers. The decomposition also allows for modular design and testing and the incorporation...

  18. Synthesis of Hierarchically Structured Hybrid Materials by Controlled Self-Assembly of Metal-Organic Framework with Mesoporous Silica for CO2 Adsorption.

    Science.gov (United States)

    Chen, Chong; Li, Bingxue; Zhou, Lijin; Xia, Zefeng; Feng, Nengjie; Ding, Jing; Wang, Lei; Wan, Hui; Guan, Guofeng

    2017-07-12

    The HKUST-1@SBA-15 composites with hierarchical pore structure were constructed by in situ self-assembly of metal-organic framework (MOF) with mesoporous silica. The structure directing role of SBA-15 had an obvious impact on the growth of MOF crystals, which in turn affected the morphologies and structural properties of the composites. The pristine HKUST-1 and the composites with different content of SBA-15 were characterized by XRD, N2 adsorption-desorption, SEM, TEM, FT-IR, TG, XPS, and CO2-TPD techniques. It was found that the composites were assembled by oriented growth of MOF nanocrystals on the surfaces of SBA-15 matrix. The interactions between surface silanol groups and metal centers induced structural changes and resulted in the increases in surface areas as well as micropore volumes of hybrid materials. Besides, the additional constraints from SBA-15 also restrained the expansion of HKUST-1, contributing to their smaller crystal sizes in the composites. The adsorption isotherms of CO2 on the materials were measured and applied to calculate the isosteric heats of adsorption. The HS-1 composite exhibited an increase of 15.9% in CO2 uptake capacity compared with that of HKUST-1. Moreover, its higher isosteric heats of CO2 adsorption indicated the stronger interactions between the surfaces and CO2 molecules. The adsorption rate of the composite was also improved due to the introduction of mesopores. Ten cycles of CO2 adsorption-desorption experiments implied that the HS-1 had excellent reversibility of CO2 adsorption. This study was intended to provide the possibility of assembling new composites with tailored properties based on MOF and mesoporous silica to satisfy the requirements of various applications.

  19. Hierarchical hybrid peroxidase catalysts for remediation of phenol wastewater

    KAUST Repository

    Duan, Xiaonan

    2014-02-20

    We report a new family of hierarchical hybrid catalysts comprised of horseradish peroxidase (HRP)-magnetic nanoparticles for advanced oxidation processes and demonstrate their utility in the removal of phenol from water. The immobilized HRP catalyzes the oxidation of phenols in the presence of H2O2, producing free radicals. The phenoxy radicals react with each other in a non-enzymatic process to form polymers, which can be removed by precipitation with salts or condensation. The hybrid peroxidase catalysts exhibit three times higher activity than free HRP and are able to remove three times more phenol from water compared to free HRP under similar conditions. In addition, the hybrid catalysts reduce substrate inhibition and limit inactivation from reaction products, which are common problems with free or conventionally immobilized enzymes. Reusability is improved when the HRP-magnetic nanoparticle hybrids are supported on micron-scale magnetic particles, and can be retained with a specially designed magnetically driven reactor. The performance of the hybrid catalysts makes them attractive for several industrial and environmental applications and their development might pave the way for practical applications by eliminating most of the limitations that have prevented the use of free or conventionally immobilized enzymes. © 2013 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  20. Hierarchical MAS Based Control Strategy for Microgrid

    Directory of Open Access Journals (Sweden)

    Wei Wu

    2010-09-01

    Full Text Available Microgrids have become a hot topic driven by the dual pressures of environmental protection concerns and the energy crisis. In this paper, a challenge for the distributed control of a modern electric grid incorporating clusters of residential microgrids is elaborated and a hierarchical multi-agent system (MAS is proposed as a solution. The issues of how to realize the hierarchical MAS and how to improve coordination and control strategies are discussed. Based on MATLAB and ZEUS platforms, bilateral switching between grid-connected mode and island mode is performed under control of the proposed MAS to enhance and support its effectiveness.

  1. Hierarchical control of electron-transfer

    DEFF Research Database (Denmark)

    Westerhoff, Hans V.; Jensen, Peter Ruhdal; Egger, Louis

    1997-01-01

    In this chapter the role of electron transfer in determining the behaviour of the ATP synthesising enzyme in E. coli is analysed. It is concluded that the latter enzyme lacks control because of special properties of the electron transfer components. These properties range from absence of a strong...... back pressure by the protonmotive force on the rate of electron transfer to hierarchical regulation of the expression of the gens that encode the electron transfer proteins as a response to changes in the bioenergetic properties of the cell.The discussion uses Hierarchical Control Analysis...

  2. A hierarchical framework for air traffic control

    Science.gov (United States)

    Roy, Kaushik

    Air travel in recent years has been plagued by record delays, with over $8 billion in direct operating costs being attributed to 100 million flight delay minutes in 2007. Major contributing factors to delay include weather, congestion, and aging infrastructure; the Next Generation Air Transportation System (NextGen) aims to alleviate these delays through an upgrade of the air traffic control system. Changes to large-scale networked systems such as air traffic control are complicated by the need for coordinated solutions over disparate temporal and spatial scales. Individual air traffic controllers must ensure aircraft maintain safe separation locally with a time horizon of seconds to minutes, whereas regional plans are formulated to efficiently route flows of aircraft around weather and congestion on the order of every hour. More efficient control algorithms that provide a coordinated solution are required to safely handle a larger number of aircraft in a fixed amount of airspace. Improved estimation algorithms are also needed to provide accurate aircraft state information and situational awareness for human controllers. A hierarchical framework is developed to simultaneously solve the sometimes conflicting goals of regional efficiency and local safety. Careful attention is given in defining the interactions between the layers of this hierarchy. In this way, solutions to individual air traffic problems can be targeted and implemented as needed. First, the regional traffic flow management problem is posed as an optimization problem and shown to be NP-Hard. Approximation methods based on aggregate flow models are developed to enable real-time implementation of algorithms that reduce the impact of congestion and adverse weather. Second, the local trajectory design problem is solved using a novel slot-based sector model. This model is used to analyze sector capacity under varying traffic patterns, providing a more comprehensive understanding of how increased automation

  3. Parallel Temporal Dynamics in Hierarchical Cognitive Control

    Science.gov (United States)

    Ranti, Carolyn; Chatham, Christopher H.; Badre, David

    2015-01-01

    Cognitive control allows us to follow abstract rules in order to choose appropriate responses given our desired outcomes. Cognitive control is often conceptualized as a hierarchical decision process, wherein decisions made at higher, more abstract levels of control asymmetrically influence lower-level decisions. These influences could evolve sequentially across multiple levels of a hierarchical decision, consistent with much prior evidence for central bottlenecks and seriality in decision-making processes. However, here, we show that multiple levels of hierarchical cognitive control are processed primarily in parallel. Human participants selected responses to stimuli using a complex, multiply contingent (third order) rule structure. A response deadline procedure allowed assessment of the accuracy and timing of decisions made at each level of the hierarchy. In contrast to a serial decision process, error rates across levels of the decision mostly declined simultaneously and at identical rates, with only a slight tendency to complete the highest level decision first. Simulations with a biologically plausible neural network model demonstrate how such parallel processing could emerge from a previously developed hierarchically nested frontostriatal architecture. Our results support a parallel processing model of cognitive control, in which uncertainty on multiple levels of a decision is reduced simultaneously. PMID:26051820

  4. Hybridization of Fuzzy Clustering and Hierarchical Method for Link Discovery

    Directory of Open Access Journals (Sweden)

    Enseih Davoodi Jam

    2012-11-01

    Full Text Available Clustering is an active research topic in data mining and different methods have been proposed in the literature. Most of these methods are based on numerical attributes. Recently, there have been several proposals to develop clustering methods that support mixed attributes. There are
    three basic groups of clustering methods: partitional methods, hierarchical methods and densitybased methods. This paper proposes a hybrid clustering algorithm that combines the advantages of hierarchical clustering and fuzzy clustering techniques and considers mixed attributes. The proposed algorithms improve the fuzzy algorithm by making it less dependent on the initial parameters such as randomly chosen initial cluster centers, and it can determine the number of clusters based on the complexity of cluster structure. Our approach is organized in two phases: first, the division of data in two clusters; then the determination of the worst cluster and splitting. The number of clusters is unknown, but our algorithms can find this parameter based on the complexity of cluster structure. We demonstrate the effectiveness of the clustering approach by evaluating datasets of linked data. We applied the proposed algorithms on three different datasets. Experimental results the proposed algorithm is suitable for link discovery between datasets of linked data. Clustering can decrease the number of comparisons before link discovery.

  5. Hierarchical Control and Trajectory Planning

    Science.gov (United States)

    Martin, Clyde F.; Horn, P. W.

    1994-01-01

    Most of the time on this project was spent on the trajectory planning problem. The construction is equivalent to the classical spline construction in the case that the system matrix is nilpotent. If the dimension of the system is n then the spline of degree 2n-1 is constructed. This gives a new approach to the construction of splines that is more efficient than the usual construction and at the same time allows the construction of a much larger class of splines. All known classes of splines are reconstructed using the approach of linear control theory. As a numerical analysis tool control theory gives a very good tool for constructing splines. However, for the purposes of trajectory planning it is quite another story. Enclosed in this document are four reports done under this grant.

  6. Hierarchical Control for Smart Grids

    DEFF Research Database (Denmark)

    Trangbæk, K; Bendtsen, Jan Dimon; Stoustrup, Jakob

    2011-01-01

    of autonomous consumers. The control system is tasked with balancing electric power production and consumption within the smart grid, and makes active use of the flexibility of a large number of power producing and/or power consuming units. The objective is to accommodate the load variation on the grid, arising...... on one hand from varying consumption, and on the other hand by natural variations in power production e.g. from wind turbines. The high-level MPC problem is solved using quadratic optimisation, while the aggregator level can either involve quadratic optimisation or simple sorting-based min-max solutions...

  7. Hierarchical Control of Thermostatically Controller Loads for Primary Frequency Control

    DEFF Research Database (Denmark)

    Zhao, Haoran; Wu, Qiuwei; Huang, Shaojun

    2016-01-01

    This paper proposes a hierarchical control of Thermostatically Controlled Loads (TCLs) to provide primary frequency control support. The control architecture is comprised of three levels. At the high level, an aggregator coordinates multiple distribution substations and dispatches the primary...... reserve references. At the middle level, distribution substations estimate the available power of TCLs based on the aggregated bin model, and dispatch control signals to individual TCLs. At the local level, a supplementary frequency control loop is implemented at the local controller, which makes TCLs...

  8. HYBRID VEHICLE CONTROL SYSTEM

    Directory of Open Access Journals (Sweden)

    V. Dvadnenko

    2016-06-01

    Full Text Available The hybrid vehicle control system includes a start–stop system for an internal combustion engine. The system works in a hybrid mode and normal vehicle operation. To simplify the start–stop system, there were user new possibilities of a hybrid car, which appeared after the conversion. Results of the circuit design of the proposed system of basic blocks are analyzed.

  9. Hierarchical unilamellar vesicles of controlled compositional heterogeneity.

    Directory of Open Access Journals (Sweden)

    Maik Hadorn

    Full Text Available Eukaryotic life contains hierarchical vesicular architectures (i.e. organelles that are crucial for material production and trafficking, information storage and access, as well as energy production. In order to perform specific tasks, these compartments differ among each other in their membrane composition and their internal cargo and also differ from the cell membrane and the cytosol. Man-made structures that reproduce this nested architecture not only offer a deeper understanding of the functionalities and evolution of organelle-bearing eukaryotic life but also allow the engineering of novel biomimetic technologies. Here, we show the newly developed vesicle-in-water-in-oil emulsion transfer preparation technique to result in giant unilamellar vesicles internally compartmentalized by unilamellar vesicles of different membrane composition and internal cargo, i.e. hierarchical unilamellar vesicles of controlled compositional heterogeneity. The compartmentalized giant unilamellar vesicles were subsequently isolated by a separation step exploiting the heterogeneity of the membrane composition and the encapsulated cargo. Due to the controlled, efficient, and technically straightforward character of the new preparation technique, this study allows the hierarchical fabrication of compartmentalized giant unilamellar vesicles of controlled compositional heterogeneity and will ease the development of eukaryotic cell mimics that resemble their natural templates as well as the fabrication of novel multi-agent drug delivery systems for combination therapies and complex artificial microreactors.

  10. Hierarchical Control for Multiple DC Microgrids Clusters

    DEFF Research Database (Denmark)

    Shafiee, Qobad; Dragicevic, Tomislav; Vasquez, Juan Carlos

    2014-01-01

    . Another distributed policy is employed then to regulate the power flow among the MGs according to their local SOCs. The proposed distributed controllers on each MG communicate with only the neighbor MGs through a communication infrastructure. Finally, the small signal model is expanded for dc MG clusters......This paper presents a distributed hierarchical control framework to ensure reliable operation of dc Microgrid (MG) clusters. In this hierarchy, primary control is used to regulate the common bus voltage inside each MG locally. An adaptive droop method is proposed for this level which determines...

  11. Hybrid and hierarchical nanoreinforced polymer composites: Computational modelling of structure–properties relationships

    DEFF Research Database (Denmark)

    Mishnaevsky, Leon; Dai, Gaoming

    2014-01-01

    Hybrid and hierarchical polymer composites represent a promising group of materials for engineering applications. In this paper, computational studies of the strength and damage resistance of hybrid and hierarchical composites are reviewed. The reserves of the composite improvement are explored b...... nanoreinforcement can drastically increase the fatigue lifetime of composites. Especially, composites with the nanoplatelets localized in the fiber/matrix interface layer (fiber sizing) ensure much higher fatigue lifetime than those with the nanoplatelets in the matrix....

  12. Stable Hybrid Adaptive Control,

    Science.gov (United States)

    1982-07-01

    STABLE HYBRID ADAPTIVE CONTROL(U) YALE UNIV NEW HAVEN i/i CT CENTER FOR SYSTEMS SCIENCE K S NARENDRA ET AL. JUL 82 8286 Ne@04-76-C-8e7 UNCLASSIFIED...teasrallepsaaw1tflbe~ll b ydd Il"t 5 As is the comtanuous Case cistral to the stability analysis of the hybrid ~IVt* COnRol PO* IMare the sur Models

  13. Towards Sustainable Smart Homes by a Hierarchical Hybrid Architecture of an Intelligent Agent

    Directory of Open Access Journals (Sweden)

    K. Yang

    2016-10-01

    Full Text Available A smart home can be realized by the provision of services, such as building control, automation and security implemented in accordance with a user’s request. One of the important issues is how to respond quickly and appropriately to a user’s request in a “dynamic environment”. An intelligent agent infers the user’s intention and provides the intact service. This paper proposes a smart home agent system based on a hierarchical hybrid architecture of a user intention model, which models the user intention as a hierarchical structure and implements it in a dynamic environment. The conventional rule-based approach needs to obtain all information before it is executed, which requires a large number of rules and is hardly scalable as the control objects are increasing. On the other hand, the proposed system consists of several modules that construct a hierarchical user intention model. The smart home system needs to take account of the information, such as time, state of device and state of the home, in addition to users’ intention. We evaluate the performance of the proposed system in a dynamic environment and conduct a blind test with seven subjects to measure the satisfaction of service, resulting in the average score of 81.46.

  14. A Hierarchical Algorithm for Integrated Scheduling and Control With Applications to Power Systems

    DEFF Research Database (Denmark)

    Sokoler, Leo Emil; Dinesen, Peter Juhler; Jørgensen, John Bagterp

    2016-01-01

    The contribution of this paper is a hierarchical algorithm for integrated scheduling and control via model predictive control of hybrid systems. The controlled system is a linear system composed of continuous control, state, and output variables. Binary variables occur as scheduling decisions...... in the optimal control problem (OCP). The scheduling decisions are made on a slow time scale compared with the system dynamics. This gives rise to a temporal separation of the scheduling and control variables in the OCP. Accordingly, the proposed hierarchical algorithm consists of two optimization levels...

  15. Dendrimer-like hybrid particles with tunable hierarchical pores

    Science.gov (United States)

    Du, Xin; Li, Xiaoyu; Huang, Hongwei; He, Junhui; Zhang, Xueji

    2015-03-01

    Dendrimer-like silica particles with a center-radial dendritic framework and a synergistic hierarchical porosity have attracted much attention due to their unique open three-dimensional superstructures with high accessibility to the internal surface areas; however, the delicate regulation of the hierarchical porosity has been difficult to achieve up to now. Herein, a series of dendrimer-like amino-functionalized silica particles with tunable hierarchical pores (HPSNs-NH2) were successfully fabricated by carefully regulating and optimizing the various experimental parameters in the ethyl ether emulsion systems via a one-pot sol-gel reaction. Interestingly, the simple adjustment of the stirring rate or reaction temperature was found to be an easy and effective route to achieve the controllable regulation towards center-radial large pore sizes from ca. 37-267 (148 +/- 45) nm to ca. 8-119 (36 +/- 21) nm for HPSNs-NH2 with particle sizes of 300-700 nm and from ca. 9-157 (52 +/- 28) nm to ca. 8-105 (30 +/- 16) nm for HPSNs-NH2 with particle sizes of 100-320 nm. To the best of our knowledge, this is the first successful regulation towards center-radial large pore sizes in such large ranges. The formation of HPSNs-NH2 may be attributed to the complex cross-coupling of two processes: the dynamic diffusion of ethyl ether molecules and the self-assembly of partially hydrolyzed TEOS species and CTAB molecules at the dynamic ethyl ether-water interface of uniform small quasi-emulsion droplets. Thus, these results regarding the elaborate regulation of center-radial large pores and particle sizes not only help us better understand the complicated self-assembly at the dynamic oil-water interface, but also provide a unique and ideal platform as carriers or supports for adsorption, separation, catalysis, biomedicine, and sensor.Dendrimer-like silica particles with a center-radial dendritic framework and a synergistic hierarchical porosity have attracted much attention due to their

  16. Continuity Controlled Hybrid Automata

    NARCIS (Netherlands)

    Bergstra, J.A.; Middelburg, C.A.

    2004-01-01

    We investigate the connections between the process algebra for hybrid systems of Bergstra and Middelburg and the formalism of hybrid automata of Henzinger et al. We give interpretations of hybrid automata in the process algebra for hybrid systems and compare them with the standard interpretation of

  17. Continuity controlled Hybrid Automata

    NARCIS (Netherlands)

    Bergstra, J.A.; Middelburg, C.A.

    We investigate the connections between the process algebra for hybrid systems of Bergstra and Middelburg and the formalism of hybrid automata of Henzinger et al. We give interpretations of hybrid automata in the process algebra for hybrid systems and compare them with the standard interpretation

  18. A Hybrid PO - Higher-Order Hierarchical MoM Formulation using Curvilinear Geometry Modeling

    DEFF Research Database (Denmark)

    Jørgensen, E.; Meincke, Peter; Breinbjerg, Olav

    2003-01-01

    A very efficient hybrid PO-MoM method has been presented. In contrast to existing methods, the present solution employs higher-order hierarchical basis functions to discretize the MoM and PO currents. This allows to reduce the number of basis functions in both the PO and MoM regions considerably...

  19. Large-scale multi-zone optimal power dispatch using hybrid hierarchical evolution technique

    Directory of Open Access Journals (Sweden)

    Manjaree Pandit

    2014-03-01

    Full Text Available A new hybrid technique based on hierarchical evolution is proposed for large, non-convex, multi-zone economic dispatch (MZED problems considering all practical constraints. Evolutionary/swarm intelligence-based optimisation techniques are reported to be effective only for small/medium-sized power systems. The proposed hybrid hierarchical evolution (HHE algorithm is specifically developed for solving large systems. The HHE integrates the exploration and exploitation capabilities of particle swarm optimisation and differential evolution in a novel manner such that the search efficiency is improved substantially. Most hybrid techniques export or exchange features or operations from one algorithm to the other, but in HHE their entire individual features are retained. The effectiveness of the proposed algorithm has been verified on six-test systems having different sizes and complexity levels. Non-convex MZED solution for such large and complex systems has not yet been reported.

  20. Hierarchical Control Scheme for Voltage Unbalance Compensation in Islanded Microgrids

    DEFF Research Database (Denmark)

    Savaghebi, Mehdi; Guerrero, Josep M.; Jalilian, Alireza

    2011-01-01

    The concept of microgrid hierarchical control is presented, recently. In this paper, a hierarchical scheme which includes primary and secondary control levels is proposed for islanded microgrids. The primary control level consists of DG local controllers. Local controller of each DG comprises...... active and reactive power controllers, virtual impedance loop and voltage and current controllers. The secondary level is designed to compensate the voltage unbalance at the load bus (LB) of the islanded microgrid. Also, restoration of LB voltage amplitude and microgrid frequency to the rated values...

  1. The hierarchical expert tuning of PID controllers using tools of soft computing.

    Science.gov (United States)

    Karray, F; Gueaieb, W; Al-Sharhan, S

    2002-01-01

    We present soft computing-based results pertaining to the hierarchical tuning process of PID controllers located within the control loop of a class of nonlinear systems. The results are compared with PID controllers implemented either in a stand alone scheme or as a part of conventional gain scheduling structure. This work is motivated by the increasing need in the industry to design highly reliable and efficient controllers for dealing with regulation and tracking capabilities of complex processes characterized by nonlinearities and possibly time varying parameters. The soft computing-based controllers proposed are hybrid in nature in that they integrate within a well-defined hierarchical structure the benefits of hard algorithmic controllers with those having supervisory capabilities. The controllers proposed also have the distinct features of learning and auto-tuning without the need for tedious and computationally extensive online systems identification schemes.

  2. Hybrid Iterative Scheme for Triple Hierarchical Variational Inequalities with Mixed Equilibrium, Variational Inclusion, and Minimization Constraints

    Directory of Open Access Journals (Sweden)

    Lu-Chuan Ceng

    2014-01-01

    Full Text Available We introduce and analyze a hybrid iterative algorithm by combining Korpelevich's extragradient method, the hybrid steepest-descent method, and the averaged mapping approach to the gradient-projection algorithm. It is proven that, under appropriate assumptions, the proposed algorithm converges strongly to a common element of the fixed point set of finitely many nonexpansive mappings, the solution set of a generalized mixed equilibrium problem (GMEP, the solution set of finitely many variational inclusions, and the solution set of a convex minimization problem (CMP, which is also a unique solution of a triple hierarchical variational inequality (THVI in a real Hilbert space. In addition, we also consider the application of the proposed algorithm to solving a hierarchical variational inequality problem with constraints of the GMEP, the CMP, and finitely many variational inclusions.

  3. Agent-based distributed hierarchical control of dc microgrid systems

    DEFF Research Database (Denmark)

    Meng, Lexuan; Vasquez, Juan Carlos; Guerrero, Josep M.

    2014-01-01

    In order to enable distributed control and management for microgrids, this paper explores the application of information consensus and local decisionmaking methods formulating an agent based distributed hierarchical control system. A droop controlled paralleled DC/DC converter system is taken...

  4. MAS Based Event-Triggered Hybrid Control for Smart Microgrids

    DEFF Research Database (Denmark)

    Dou, Chunxia; Liu, Bin; Guerrero, Josep M.

    2013-01-01

    This paper is focused on an advanced control for autonomous microgrids. In order to improve the performance regarding security and stability, a hierarchical decentralized coordinated control scheme is proposed based on multi-agents structure. Moreover, corresponding to the multi-mode and the hybrid...... haracteristics of microgrids, an event-triggered hybrid control, including three kinds of switching controls, is designed to intelligently reconstruct operation mode when the security stability assessment indexes or the constraint conditions are violated. The validity of proposed control scheme is demonstrated...

  5. Hybrid spacecraft attitude control system

    Directory of Open Access Journals (Sweden)

    Renuganth Varatharajoo

    2016-02-01

    Full Text Available The hybrid subsystem design could be an attractive approach for futurespacecraft to cope with their demands. The idea of combining theconventional Attitude Control System and the Electrical Power System ispresented in this article. The Combined Energy and Attitude ControlSystem (CEACS consisting of a double counter rotating flywheel assemblyis investigated for small satellites in this article. Another hybrid systemincorporating the conventional Attitude Control System into the ThermalControl System forming the Combined Attitude and Thermal ControlSystem (CATCS consisting of a "fluid wheel" and permanent magnets isalso investigated for small satellites herein. The governing equationsdescribing both these novel hybrid subsystems are presented and theironboard architectures are numerically tested. Both the investigated novelhybrid spacecraft subsystems comply with the reference missionrequirements.The hybrid subsystem design could be an attractive approach for futurespacecraft to cope with their demands. The idea of combining theconventional Attitude Control System and the Electrical Power System ispresented in this article. The Combined Energy and Attitude ControlSystem (CEACS consisting of a double counter rotating flywheel assemblyis investigated for small satellites in this article. Another hybrid systemincorporating the conventional Attitude Control System into the ThermalControl System forming the Combined Attitude and Thermal ControlSystem (CATCS consisting of a "fluid wheel" and permanent magnets isalso investigated for small satellites herein. The governing equationsdescribing both these novel hybrid subsystems are presented and theironboard architectures are numerically tested. Both the investigated novelhybrid spacecraft subsystems comply with the reference missionrequirements.

  6. Model-based hierarchical reinforcement learning and human action control.

    Science.gov (United States)

    Botvinick, Matthew; Weinstein, Ari

    2014-11-05

    Recent work has reawakened interest in goal-directed or 'model-based' choice, where decisions are based on prospective evaluation of potential action outcomes. Concurrently, there has been growing attention to the role of hierarchy in decision-making and action control. We focus here on the intersection between these two areas of interest, considering the topic of hierarchical model-based control. To characterize this form of action control, we draw on the computational framework of hierarchical reinforcement learning, using this to interpret recent empirical findings. The resulting picture reveals how hierarchical model-based mechanisms might play a special and pivotal role in human decision-making, dramatically extending the scope and complexity of human behaviour.

  7. Disturbance observer based hierarchical control of coaxial-rotor UAV.

    Science.gov (United States)

    Mokhtari, M Rida; Cherki, Brahim; Braham, Amal Choukchou

    2017-03-01

    This paper propose an hierarchical controller based on a new disturbance observer with finite time convergence (FTDO) to solve the path tracking of a small coaxial-rotor-typs Unmanned Aerial Vehicles (UAVs) despite of unknown aerodynamic efforts. The hierarchical control technique is used to separate the flight control problem into an inner loop that controls attitude and an outer loop that controls the thrust force acting on the vehicle. The new disturbance observer with finite time convergence is intergated to online estimate the unknown uncertainties and disturbances and to actively compensate them in finite time.The analysis further extends to the design of a control law that takes the disturbance estimation procedure into account. Numerical simulations are carried out to demonstrate the efficiency of the proposed control strategy. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  8. Optimal control of hybrid vehicles

    CERN Document Server

    Jager, Bram; Kessels, John

    2013-01-01

    Optimal Control of Hybrid Vehicles provides a description of power train control for hybrid vehicles. The background, environmental motivation and control challenges associated with hybrid vehicles are introduced. The text includes mathematical models for all relevant components in the hybrid power train. The power split problem in hybrid power trains is formally described and several numerical solutions detailed, including dynamic programming and a novel solution for state-constrained optimal control problems based on Pontryagin’s maximum principle.   Real-time-implementable strategies that can approximate the optimal solution closely are dealt with in depth. Several approaches are discussed and compared, including a state-of-the-art strategy which is adaptive for vehicle conditions like velocity and mass. Two case studies are included in the book: ·        a control strategy for a micro-hybrid power train; and ·        experimental results obtained with a real-time strategy implemented in...

  9. A hybrid deterministic-probabilistic approach to model the mechanical response of helically arranged hierarchical strands

    Science.gov (United States)

    Fraldi, M.; Perrella, G.; Ciervo, M.; Bosia, F.; Pugno, N. M.

    2017-09-01

    Very recently, a Weibull-based probabilistic strategy has been successfully applied to bundles of wires to determine their overall stress-strain behaviour, also capturing previously unpredicted nonlinear and post-elastic features of hierarchical strands. This approach is based on the so-called ;Equal Load Sharing (ELS); hypothesis by virtue of which, when a wire breaks, the load acting on the strand is homogeneously redistributed among the surviving wires. Despite the overall effectiveness of the method, some discrepancies between theoretical predictions and in silico Finite Element-based simulations or experimental findings might arise when more complex structures are analysed, e.g. helically arranged bundles. To overcome these limitations, an enhanced hybrid approach is proposed in which the probability of rupture is combined with a deterministic mechanical model of a strand constituted by helically-arranged and hierarchically-organized wires. The analytical model is validated comparing its predictions with both Finite Element simulations and experimental tests. The results show that generalized stress-strain responses - incorporating tension/torsion coupling - are naturally found and, once one or more elements break, the competition between geometry and mechanics of the strand microstructure, i.e. the different cross sections and helical angles of the wires in the different hierarchical levels of the strand, determines the no longer homogeneous stress redistribution among the surviving wires whose fate is hence governed by a ;Hierarchical Load Sharing; criterion.

  10. Hierarchical Model Predictive Control for Resource Distribution

    DEFF Research Database (Denmark)

    Bendtsen, Jan Dimon; Trangbæk, K; Stoustrup, Jakob

    2010-01-01

    This paper deals with hierarchichal model predictive control (MPC) of distributed systems. A three level hierachical approach is proposed, consisting of a high level MPC controller, a second level of so-called aggregators, controlled by an online MPC-like algorithm, and a lower level of autonomous...... units. The approach is inspired by smart-grid electric power production and consumption systems, where the flexibility of a large number of power producing and/or power consuming units can be exploited in a smart-grid solution. The objective is to accommodate the load variation on the grid, arising...... facilitates plug-and-play addition of subsystems without redesign of any controllers. The method is supported by a number of simulations featuring a three-level smart-grid power control system for a small isolated power grid....

  11. Nonlinear robust hierarchical control for nonlinear uncertain systems

    Directory of Open Access Journals (Sweden)

    Leonessa Alexander

    1999-01-01

    Full Text Available A nonlinear robust control-system design framework predicated on a hierarchical switching controller architecture parameterized over a set of moving nominal system equilibria is developed. Specifically, using equilibria-dependent Lyapunov functions, a hierarchical nonlinear robust control strategy is developed that robustly stabilizes a given nonlinear system over a prescribed range of system uncertainty by robustly stabilizing a collection of nonlinear controlled uncertain subsystems. The robust switching nonlinear controller architecture is designed based on a generalized (lower semicontinuous Lyapunov function obtained by minimizing a potential function over a given switching set induced by the parameterized nominal system equilibria. The proposed framework robustly stabilizes a compact positively invariant set of a given nonlinear uncertain dynamical system with structured parametric uncertainty. Finally, the efficacy of the proposed approach is demonstrated on a jet engine propulsion control problem with uncertain pressure-flow map data.

  12. Hierarchical Control for Multiple DC-Microgrids Clusters

    DEFF Research Database (Denmark)

    Shafiee, Qobad; Dragicevic, Tomislav; Vasquez, Juan Carlos

    2014-01-01

    DC microgrids (MGs) have gained research interest during the recent years because of many potential advantages as compared to the ac system. To ensure reliable operation of a low-voltage dc MG as well as its intelligent operation with the other DC MGs, a hierarchical control is proposed in this p...

  13. MULTILEVEL RECURRENT MODEL FOR HIERARCHICAL CONTROL OF COMPLEX REGIONAL SECURITY

    Directory of Open Access Journals (Sweden)

    Andrey V. Masloboev

    2014-11-01

    Full Text Available Subject of research. The research goal and scope are development of methods and software for mathematical and computer modeling of the regional security information support systems as multilevel hierarchical systems. Such systems are characterized by loosely formalization, multiple-aspect of descendent system processes and their interconnectivity, high level dynamics and uncertainty. The research methodology is based on functional-target approach and principles of multilevel hierarchical system theory. The work considers analysis and structural-algorithmic synthesis problem-solving of the multilevel computer-aided systems intended for management and decision-making information support in the field of regional security. Main results. A hierarchical control multilevel model of regional socio-economic system complex security has been developed. The model is based on functional-target approach and provides both formal statement and solving, and practical implementation of the automated information system structure and control algorithms synthesis problems of regional security management optimal in terms of specified criteria. An approach for intralevel and interlevel coordination problem-solving in the multilevel hierarchical systems has been proposed on the basis of model application. The coordination is provided at the expense of interconnection requirements satisfaction between the functioning quality indexes (objective functions, which are optimized by the different elements of multilevel systems. That gives the possibility for sufficient coherence reaching of the local decisions, being made on the different control levels, under decentralized decision-making and external environment high dynamics. Recurrent model application provides security control mathematical models formation of regional socioeconomic systems, functioning under uncertainty. Practical relevance. The model implementation makes it possible to automate synthesis realization of

  14. Hierarchical Control of the ATLAS Experiment

    CERN Document Server

    Barriuso-Poy, Alex; Llobet-Valero, E

    2007-01-01

    Control systems at High Energy Physics (HEP) experiments are becoming increasingly complex mainly due to the size, complexity and data volume associated to the front-end instrumentation. In particular, this becomes visible for the ATLAS experiment at the LHC accelerator at CERN. ATLAS will be the largest particle detector ever built, result of an international collaboration of more than 150 institutes. The experiment is composed of 9 different specialized sub-detectors that perform different tasks and have different requirements for operation. The system in charge of the safe and coherent operation of the whole experiment is called Detector Control System (DCS). This thesis presents the integration of the ATLAS DCS into a global control tree following the natural segmentation of the experiment into sub-detectors and smaller sub-systems. The integration of the many different systems composing the DCS includes issues such as: back-end organization, process model identification, fault detection, synchronization ...

  15. Hybrid vehicle control

    Science.gov (United States)

    Shallvari, Iva; Velnati, Sashidhar; DeGroot, Kenneth P.

    2015-07-28

    A method and apparatus for heating a catalytic converter's catalyst to an efficient operating temperature in a hybrid electric vehicle when the vehicle is in a charge limited mode such as e.g., the charge depleting mode or when the vehicle's high voltage battery is otherwise charge limited. The method and apparatus determine whether a high voltage battery of the vehicle is incapable of accepting a first amount of charge associated with a first procedure to warm-up the catalyst. If it is determined that the high voltage battery is incapable of accepting the first amount of charge, a second procedure with an acceptable amount of charge is performed to warm-up the catalyst.

  16. Development of a PEM Fuel Cell City Bus with a Hierarchical Control System

    Directory of Open Access Journals (Sweden)

    Siliang Cheng

    2016-05-01

    Full Text Available The polymer electrolyte membrane (PEM fuel cell system is considered to be an ideal alternative for the internal combustion engine, especially when used on a city bus. Hybrid buses with fuel cell systems and energy storage systems are now undergoing transit service demonstrations worldwide. A hybrid PEM fuel cell city bus with a hierarchical control system is studied in this paper. Firstly, the powertrain and hierarchical control structure is introduced. Secondly, the vehicle control strategy including start-stop strategy, energy management strategy, and fuel cell control strategy, including the hydrogen system and air system control strategies, are described in detail. Finally, the performance of the fuel cell was analyzed based on road test data. Results showed that the different subsystems were well-coordinated. Each component functioned in concert in order to ensure that both safety and speed requirements were satisfied. The output current of the fuel cell system changed slowly and the output voltage was limited to a certain range, thereby enhancing durability of the fuel cell. Furthermore, the economic performance was optimized by avoiding low load conditions.

  17. Hierarchical Metal-Organic Framework Hybrids: Perturbation-Assisted Nanofusion Synthesis.

    Science.gov (United States)

    Yue, Yanfeng; Fulvio, Pasquale F; Dai, Sheng

    2015-12-15

    Metal-organic frameworks (MOFs) represent a new family of microporous materials; however, microporous-mesoporous hierarchical MOF materials have been less investigated because of the lack of simple, reliable methods to introduce mesopores to the crystalline microporous particles. State-of-the-art MOF hierarchical materials have been prepared by ligand extension methods or by using a template, resulting in intrinsic mesopores of longer ligands or replicated pores from template agents, respectively. However, mesoporous MOF materials obtained through ligand extension often collapse in the absence of guest molecules, which dramatically reduces the size of the pore aperture. Although the template-directed strategy allows for the preparation of hierarchical materials with larger mesopores, the latter requires a template removal step, which may result in the collapse of the implemented mesopores. Recently, a general template-free synthesis of hierarchical microporous crystalline frameworks, such as MOFs and Prussian blue analogues (PBAs), has been reported. This new method is based on the kinetically controlled precipitation (perturbation), with simultaneous condensation and redissolution of polymorphic nanocrystallites in the mother liquor. This method further eliminates the use of extended organic ligands and the micropores do not collapse upon removal of trapped guest solvent molecules, thus yielding hierarchical MOF materials with intriguing porosity in the gram scale. The hierarchical MOF materials prepared in this way exhibited exceptional properties when tested for the adsorption of large organic dyes over their corresponding microporous frameworks, due to the enhanced pore accessibility and electrolyte diffusion within the mesopores. As for PBAs, the pore size distribution of these materials can be tailored by changing the metals substituting Fe cations in the PB lattice. For these, the textural mesopores increased from approximately 10 nm for Cu analogue (meso

  18. Controlled synthesis and thermal stability of hydroxyapatite hierarchical microstructures

    Energy Technology Data Exchange (ETDEWEB)

    Sun, Ruixue [College of Materials Science and Engineering, Qingdao University of Science and Technology, Qingdao 266042 (China); Chen, Kezheng, E-mail: dxb@sdu.edu.cn [College of Materials Science and Engineering, Qingdao University of Science and Technology, Qingdao 266042 (China); Liao, Zhongmiao; Meng, Nan [College of Materials Science and Engineering, Qingdao University of Science and Technology, Qingdao 266042 (China)

    2013-03-15

    Highlights: ► Hydroxyapatite hierarchical microstructures have been synthesized by a facile method. ► The morphology and size of the building units of 3D structures can be controlled. ► The hydroxyapatite with 3D structure is morphologically and structurally stable up to 800 °C. - Abstract: Hydroxyapatite (HAp) hierarchical microstructures with novel 3D morphology were prepared through a template- and surfactant-free hydrothermal homogeneous precipitation method. Field emission scanning electron microscopy (FESEM), high-resolution transmission electron microscopy (HRTEM), and X-ray diffraction (XRD) were used to characterize the morphology and composition of the synthesized products. Interestingly, the obtained HAp with 3D structure is composed of one-dimensional (1D) nanorods or two-dimensional (2D) nanoribbons, and the length and morphology of these building blocks can be controlled through controlling the pH of the reaction. The building blocks are single crystalline and have different preferential orientation growth under different pH conditions. At low pH values, octacalcium phosphate (OCP) phase formed first and then transformed into HAp phase due to the increased pH value caused by the decomposition of urea. The investigation on the thermal stability reveals that the prepared HAp hierarchical microstructures are morphologically and structurally stable up to 800 °C.

  19. Hierarchical cooperative control for multiagent systems with switching directed topologies.

    Science.gov (United States)

    Hu, Jianqiang; Cao, Jinde

    2015-10-01

    The hierarchical cooperative control problem is concerned for a two-layer networked multiagent system under switching directed topologies. The group cooperative objective is to achieve finite-time formation control for the upper layer of leaders and containment control for the lower layer of followers. Two kinds of cooperative strategies, including centralized-distributed control and distributed-distributed control, are proposed for two types of switching laws: 1) random switching law with the dwell time and 2) Markov switching law with stationary distribution. Utilizing the state transition matrix methods and matrix measure techniques, some sufficient conditions are derived for asymptotical containment control and exponential almost sure containment control, respectively. Finally, some numerical examples are provided to demonstrate the effectiveness of the proposed control schemes.

  20. IMPULSE CONTROL HYBRID ELECTRICAL SYSTEM

    Directory of Open Access Journals (Sweden)

    A. A. Lobaty

    2016-01-01

    Full Text Available This paper extends the recently introduced approach for modeling and solving the optimal control problem of fixedswitched mode DC-DC power converter. DCDC converters are a class of electric power circuits that used extensively in regulated DC power supplies, DC motor drives of different types, in Photovoltaic Station energy conversion and other applications due to its advantageous features in terms of size, weight and reliable performance. The main problem in controlling this type converters is in their hybrid nature as the switched circuit topology entails different modes of operation, each of it with its own associated linear continuous-time dynamics.This paper analyses the modeling and controller synthesis of the fixed-frequency buck DC-DC converter, in which the transistor switch is operated by a pulse sequence with constant frequency. In this case the regulation of the DC component of the output voltage is via the duty cycle. The optimization of the control system is based on the formation of the control signal at the output.It is proposed to solve the problem of optimal control of a hybrid system based on the formation of the control signal at the output of the controller, which minimizes a given functional integral quality, which is regarded as a linear quadratic Letov-Kalman functional. Search method of optimal control depends on the type of mathematical model of control object. In this case, we consider a linear deterministic model of the control system, which is common for the majority of hybrid electrical systems. For this formulation of the optimal control problem of search is a problem of analytical design of optimal controller, which has the analytical solution.As an example of the hybrid system is considered a step-down switching DC-DC converter, which is widely used in various electrical systems: as an uninterruptible power supply, battery charger for electric vehicles, the inverter in solar photovoltaic power plants.. A

  1. Tunable fabrication of hierarchical hybrids via the incorporation of poly(dopamine) functional interlayer

    Energy Technology Data Exchange (ETDEWEB)

    Xu, Ting; Zhao, Xin; Zhang, Junxian; Dong, Jie; Zhang, Qinghua, E-mail: qhzhang@dhu.edu.cn

    2016-04-30

    Highlights: • PS/PDA with well-defined core/shell structures was prepared in aqueous solution. • Au NPs were coated on PS/PDA by in-situ reduction and self-assembly approach. • PS/PDA/Au had homogeneous and dense Au coatings with different shape. • Hierarchical spheres exhibited a well-defined core/shell structure maintaining the spherical morphology. - Abstract: Two kinds of ternary hybrids were prepared by anchoring different shapes and loadings of Au nanoparticles (NPs) on poly(dopamine) (PDA) functionalized polystyrene (PS) microspheres with two different strategies, i.e., in situ reduction and self-assembly approach. PDA coatings were firstly introduced to functionalize the hydrophobic PS surface with sufficient amino and hydroxyl groups, which enhanced the interaction between Au NPs and the polymer spheres. Thus, Au NPs could be easily immobilized onto the surface of the PDA/PS microspheres, and the hierarchical composite microspheres exhibited a well-defined core/shell structure without sacrificing the spherical PS morphology. PS/PDA/Au-R and PS/PDA/Au-A microspheres fabricated by in situ reduction and self-assembly approach showed different distinct Au nano-shell morphology with the corresponding optical, catalytic and electrochemical properties. Field emission scanning electron microscopy and transmission electronic microscopy verified these hierarchical structures with the ultrathin PDA film incorporating between the inner PS core and the outer Au NPs shell. X-ray diffraction and X-ray photoelectron spectroscopy confirmed the presence of PDA and Au layer on the surface of the composite particles. These green and facile methods with mild experimental conditions can extend to fabricate other polymer or inorganic substrates coated by various noble metals.

  2. Templating for hierarchical structure control in carbon materials.

    Science.gov (United States)

    Schrettl, Stephen; Schulte, Bjoern; Frauenrath, Holger

    2016-12-07

    Carbon-based materials show a remarkable variety of physical properties. For this reason, they have recently been explored for many advanced applications and emerging technologies. In the absence of actual "chemical" functionalities in these materials, tailoring these physical properties requires control on all levels of the structural hierarchy, from the atomic structure (carbon connectivity, defects, impurities), to the supramolecular level (domain orientations), nanoscopic length scale (domain sizes, porosity), microscopic structure (morphology), and macroscopic aspects (shape, surface chemistry). When preparing carbon materials, all these features can be tailored through the use of hard, soft, or molecular templates. Based on such templating approaches or through their combination, tremendous progress towards hierarchically structured carbon materials has recently been accomplished. Novel carbon nanomaterials such as brick-walled carbon tubes, carbon nanotube forests, coral-like carbon monoliths, or functional carbon nanosheets have become available, some of which exhibit unusual combinations of electronic, mechanical, and chemical properties. This review aims to discuss how the different templating approaches allow the control of structure formation on various length scales, how hierarchical structure formation can be realized, and which challenges remain, such as the detailed control over the carbon connectivity or the surface chemistry.

  3. Multi-agent system-based event-triggered hybrid control scheme for energy internet

    DEFF Research Database (Denmark)

    Dou, Chunxia; Yue, Dong; Han, Qing Long

    2017-01-01

    This paper is concerned with an event-triggered hybrid control for the energy Internet based on a multi-agent system approach with which renewable energy resources can be fully utilized to meet load demand with high security and well dynamical quality. In the design of control, a multi-agent system...... of event-triggered hybrid control strategies whereby the multi-agent system implements the hierarchical hybrid control to achieve multiple control objectives. Finally, the effectiveness of the proposed control is validated by means of simulation results....

  4. Hierarchically structured graphene-carbon nanotube-cobalt hybrid electrocatalyst for seawater battery

    Science.gov (United States)

    Suh, Dong Hoon; Park, Sul Ki; Nakhanivej, Puritut; Kim, Youngsik; Hwang, Soo Min; Park, Ho Seok

    2017-12-01

    The design of cost-effective and highly active catalysts is a critical challenge. Inspired by the strong points of stability and conductivity of carbon nanotubes (CNTs), high catalytic activity of Co nanoparticles, and rapid ion diffusion and large accessible area of three-dimensional (3D) graphene, we demonstrate a novel strategy to construct a hierarchical hybrid structure consisting of Co/CoOx nanoparticles-incorporated CNT branches onto the 3D reduced graphene oxide (rGO) architecture. The surface-modified 3D rGO by steam activation process has a large surface area and abundant defect sites, which serve as active sites to uniformly grow Co/CoOx nanoparticles. Furthermore, the CNTs preserve their performance stably by encapsulating Co nanoparticles, while the uniformly decorated Co/CoOx nanoparticles exhibit superior electrocatalytic activity toward oxygen evolution/reduction reaction due to highly exposed active sites. Employing the hybrid particle electrocatalyst, the seawater battery operates stably at 0.01 mA cm-2 during 50 cycles, owing to the good electrocatalytic ability.

  5. A Hierarchical Optimal Operation Strategy of Hybrid Energy Storage System in Distribution Networks with High Photovoltaic Penetration

    Directory of Open Access Journals (Sweden)

    Jian Chen

    2018-02-01

    Full Text Available In this paper, a hierarchical optimal operation strategy for a hybrid energy storage system (HESS is proposed, which is suitable to be utilized in distribution networks (DNs with high photovoltaic (PV penetration to achieve PV power smoothing, voltage regulation and price arbitrage. Firstly, a fuzzy-logic based variable step-size control strategy for an ultracapacitor (UC with the improvement of the lifetime of UC and tracking performance is adopted to smooth PV power fluctuations. The impact of PV forecasting errors is eliminated by adjusting the UC power in real time. Secondly, a coordinated control strategy, which includes centralized and local controls, is proposed for lithium-ion batteries. The centralized control is structured to determine the optimal battery unit for voltage regulation or price arbitrage according to lithium-ion battery performance indices. A modified lithium-ion battery aging model with better accuracy is proposed and the coupling relationship between the lifetime and the effective capacity is also considered. Additionally, the local control of the selected lithium-ion battery unit determines the charging/discharging power. A case study is used to validate the operation strategy and the results show that the lifetime equilibrium among different lithium-ion battery units can be achieved using the proposed strategy.

  6. One-step synthesis of hierarchically porous hybrid TiO2 hollow spheres with high photocatalytic activity

    Science.gov (United States)

    Liu, Ruiping; Ren, Feng; Yang, Jinlin; Su, Weiming; Sun, Zhiming; Zhang, Lei; Wang, Chang-an

    2016-03-01

    Hierarchically porous hybrid TiO2 hollow spheres were solvothermally synthesized successfully by using tetrabutyl titanate as titanium precursor and hydrated metal sulfates as soft templates. The as-prepared TiO2 spheres with hierarchically pore structures and high specific surface area and pore volume consisted of highly crystallized anatase TiO2 nanocrystals hybridized with a small amount of metal oxide from the hydrated sulfate. The proposed hydrated-sulfate assisted solvothermal (HAS) synthesis strategy was demonstrated to be widely applicable to various systems. Evaluation of the hybrid TiO2 hollow spheres for the photo-decomposition of methyl orange (MO) under visible-light irradiation revealed that they exhibited excellent photocatalytic activity and durability.

  7. Hierarchical Slotted Wireless Random Channel Access with Power Control

    Directory of Open Access Journals (Sweden)

    Abdelillah Karouit

    2015-01-01

    Full Text Available This paper introduces a hierarchical Wireless Random Access scheme based on power control where intelligence is split among the mobile users in order to drive the outcome of the system towards an efficient point. The hierarchical game is obtained by introducing a special user who plays the role of altruistic leader whereas the other users assume the role of followers. We define the power control scheme in such a way that the leader_first chooses the lowest power to transmit its packets among N available levels whereas the followers re-transmit by randomly choosing a power level picked from N-1 higher distinct power levels. Using a 3D Markovian model, we compute the steady state of the system and derive the average system throughput and expected packet transmission delay. Our numerical results show that the proposed scheme considerably improves the global performance of the system avoiding the well known throughput collapse at high loads commonly characterizing most random channel access mechanisms.

  8. Micromechanics of hierarchical materials

    DEFF Research Database (Denmark)

    Mishnaevsky, Leon, Jr.

    2012-01-01

    A short overview of micromechanical models of hierarchical materials (hybrid composites, biomaterials, fractal materials, etc.) is given. Several examples of the modeling of strength and damage in hierarchical materials are summarized, among them, 3D FE model of hybrid composites...... with nanoengineered matrix, fiber bundle model of UD composites with hierarchically clustered fibers and 3D multilevel model of wood considered as a gradient, cellular material with layered composite cell walls. The main areas of research in micromechanics of hierarchical materials are identified, among them......, the investigations of the effects of load redistribution between reinforcing elements at different scale levels, of the possibilities to control different material properties and to ensure synergy of strengthening effects at different scale levels and using the nanoreinforcement effects. The main future directions...

  9. Control for a class of hybrid systems

    NARCIS (Netherlands)

    J.H. van Schuppen (Jan)

    1997-01-01

    textabstractA hybrid control system is a control theoretic model for a computer controlled engineering system. A definition of a hybrid control system is formulated that consists of a product of a finite state automaton and of a family of continuous control systems. An example of a transportation

  10. Fuzzy/Kalman Hierarchical Horizontal Motion Control of Underactuated ROVs

    Directory of Open Access Journals (Sweden)

    Francesco M. Raimondi

    2010-06-01

    Full Text Available A new closed loop fuzzy motion control system including on-line Kalman's filter (KF for the two dimensional motion of underactuated and underwater Remotely Operated Vehicle (ROV is presented. Since the sway force is unactuated, new continuous and discrete time models are developed using a polar transformation. A new hierarchical control architecture is developed, where the high level fuzzy guidance controller generates the surge speed and the yaw rate needed to achieve the objective of planar motion, while the low level controller gives the thruster surge force and the yaw torque control signals. The Fuzzy controller ensures robustness with respect to uncertainties due to the marine environment, forward surge speed and saturation of the control signals. Also Lyapunov's stability of the motion errors is proved based on the properties of the fuzzy maps. If Inertial Measurement Unit data (IMU is employed for the feedback directly, aleatory noises due to accelerometers and gyros damage the performances of the motion control. These noises denote a kind of non parametric uncertainty which perturbs the model of the ROV. Therefore a KF is inserted in the feedback of the control system to compensate for the above uncertainties and estimate the feedback signals with more precision.

  11. Fuzzy/Kalman Hierarchical Horizontal Motion Control of Underactuated ROVs

    Directory of Open Access Journals (Sweden)

    Francesco M. Raimondi

    2010-09-01

    Full Text Available A new closed loop fuzzy motion control system including on-line Kalman's filter (KF for the two dimensional motion of underactuated and underwater Remotely Operated Vehicle (ROV is presented. Since the sway force is unactuated, new continuous and discrete time models are developed using a polar transformation. A new hierarchical control architecture is developed, where the high level fuzzy guidance controller generates the surge speed and the yaw rate needed to achieve the objective of planar motion, while the low level controller gives the thruster surge force and the yaw control signals. The Fuzzy controller ensures robustness with respect to uncertainties due to the marine environment, forward surge speed and saturation of the control signals. Also Lyapunov's stability of the motion errors is proved based on the properties of the fuzzy maps. If Inertial Measurement Unit data (IMU is employed for the feedback directly, aleatory noises due to accelerometers and gyros damage the performances of the motion control. These noises denote a king of non parametric uncertainty which perturbs the model of the ROV. Therefore a KF is inserted in the feedback of the control system to compensate for the above uncertainties and estimate the feedback signals with more precision.

  12. Three-dimensional hierarchical cultivation of human skin cells on bio-adaptive hybrid fibers.

    Science.gov (United States)

    Planz, Viktoria; Seif, Salem; Atchison, Jennifer S; Vukosavljevic, Branko; Sparenberg, Lisa; Kroner, Elmar; Windbergs, Maike

    2016-07-11

    The human skin comprises a complex multi-scale layered structure with hierarchical organization of different cells within the extracellular matrix (ECM). This supportive fiber-reinforced structure provides a dynamically changing microenvironment with specific topographical, mechanical and biochemical cell recognition sites to facilitate cell attachment and proliferation. Current advances in developing artificial matrices for cultivation of human cells concentrate on surface functionalizing of biocompatible materials with different biomolecules like growth factors to enhance cell attachment. However, an often neglected aspect for efficient modulation of cell-matrix interactions is posed by the mechanical characteristics of such artificial matrices. To address this issue, we fabricated biocompatible hybrid fibers simulating the complex biomechanical characteristics of native ECM in human skin. Subsequently, we analyzed interactions of such fibers with human skin cells focusing on the identification of key fiber characteristics for optimized cell-matrix interactions. We successfully identified the mediating effect of bio-adaptive elasto-plastic stiffness paired with hydrophilic surface properties as key factors for cell attachment and proliferation, thus elucidating the synergistic role of these parameters to induce cellular responses. Co-cultivation of fibroblasts and keratinocytes on such fiber mats representing the specific cells in dermis and epidermis resulted in a hierarchical organization of dermal and epidermal tissue layers. In addition, terminal differentiation of keratinocytes at the air interface was observed. These findings provide valuable new insights into cell behaviour in three-dimensional structures and cell-material interactions which can be used for rational development of bio-inspired functional materials for advanced biomedical applications.

  13. Hierarchical Coordinated Control of Distributed Generators and Active Power Filters to Enhance Power Quality of Microgrids

    DEFF Research Database (Denmark)

    Savaghebi, Mehdi; Hashempour, Mohammad M.; Guerrero, Josep M.

    2014-01-01

    This paper addresses the coordinated control of distributed generators (DGs) inverters and active power filters (APFs) to compensate voltage harmonics in microgrids. For this, a hierarchical control system is proposed to mitigate voltage harmonic distortion. The hierarchical control structure...... includes two control levels: primary control and secondary control. Primary control consists of power controllers, selective virtual impedance loops and proportional-resonant (PR) voltage/current controllers. Secondary control manages the compensation of voltage harmonic distortion of sensitive load bus...

  14. Hierarchical control of two-dimensional gaze saccades

    Science.gov (United States)

    Optican, Lance M.; Blohm, Gunnar; Lefèvre, Philippe

    2014-01-01

    Coordinating the movements of different body parts is a challenging process for the central nervous system because of several problems. Four of these main difficulties are: first, moving one part can move others; second, the parts can have different dynamics; third, some parts can have different motor goals; and fourth, some parts may be perturbed by outside forces. Here, we propose a novel approach for the control of linked systems with feedback loops for each part. The proximal parts have separate goals, but critically the most distal part has only the common goal. We apply this new control policy to eye-head coordination in two-dimensions, specifically head-unrestrained gaze saccades. Paradoxically, the hierarchical structure has controllers for the gaze and the head, but not for the eye (the most distal part). Our simulations demonstrate that the proposed control structure reproduces much of the published empirical data about gaze movements, e.g., it compensates for perturbations, accurately reaches goals for gaze and head from arbitrary initial positions, simulates the nine relationships of the head-unrestrained main sequence, and reproduces observations from lesion and single-unit recording experiments. We conclude by showing how our model can be easily extended to control structures with more linked segments, such as the control of coordinated eye on head on trunk movements. PMID:24062206

  15. Multiplex acute leukemia cytosensing using multifunctional hybrid electrochemical nanoprobes at a hierarchically nanoarchitectured electrode interface

    Science.gov (United States)

    Zheng, Tingting; Tan, Tingting; Zhang, Qingfeng; Fu, Jia-Ju; Wu, Jia-Jun; Zhang, Kui; Zhu, Jun-Jie; Wang, Hui

    2013-10-01

    We have developed a robust, nanobiotechnology-based electrochemical cytosensing approach with high sensitivity, selectivity, and reproducibility toward the simultaneous multiplex detection and classification of both acute myeloid leukemia and acute lymphocytic leukemia cells. The construction of the electrochemical cytosensor involves the hierarchical assembly of dual aptamer-functionalized, multilayered graphene-Au nanoparticle electrode interface and the utilization of hybrid electrochemical nanoprobes co-functionalized with redox tags, horseradish peroxidase, and cell-targeting nucleic acid aptamers. The hybrid nanoprobes are multifunctional, capable of specifically targeting the cells of interest, amplifying the electrochemical signals, and generating distinguishable signals for multiplex cytosensing. The as-assembled electrode interface not only greatly facilitates the interfacial electron transfer process due to its high conductivity and surface area but also exhibits excellent biocompatibility and specificity for cell recognition and adhesion. A superstructured sandwich-type sensor geometry is adopted for electrochemical cytosensing, with the cells of interest sandwiched between the nanoprobes and the electrode interface. Such an electrochemical sensing strategy allows for ultrasensitive, multiplex acute leukemia cytosensing with a detection limit as low as ~350 cells per mL and a wide linear response range from 5 × 102 to 1 × 107 cells per mL for HL-60 and CEM cells, with minimal cross-reactivity and interference from non-targeting cells. This electrochemical cytosensing approach holds great promise as a new point-of-care diagnostic tool for early detection and classification of human acute leukemia and may be readily expanded to multiplex cytosensing of other cancer cells.We have developed a robust, nanobiotechnology-based electrochemical cytosensing approach with high sensitivity, selectivity, and reproducibility toward the simultaneous multiplex

  16. AFM study of excimer laser patterning of block-copolymer: Creation of ordered hierarchical, hybrid, or recessed structures

    Energy Technology Data Exchange (ETDEWEB)

    Švanda, Jan; Siegel, Jakub; Švorčík, Vaclav; Lyutakov, Oleksiy, E-mail: lyutakoo@vscht.cz

    2016-05-15

    Highlights: • Combination of bottom-up (BCP separation) and top-down (laser patterning) technologies allows obtaining hierarchical structures. • Surface morphologies were determined by the order of patterning steps (laser modification, annealing, surface reconstruction). • Tuning the order of steps enables the reorientation of BCP domain at large scale, fabrication of hierarchical, hybrid or recessed structures. • The obtained structures can find potential applications in nanotechnology, plasmonics, information storage, sensors and smart surfaces. - Abstract: We report fabrication of the varied range of hierarchical structures by combining bottom-up self-assembly of block copolymer poly(styrene-block-vinylpyridine) (PS-b-P4VP) with top-down excimer laser patterning method. Different procedures were tested, where laser treatment was applied before phase separation and after phase separation or phase separation and surface reconstruction. Laser treatment was performed using either polarized laser light with the aim to create periodical pattern on polymer surface or non-polarized light for preferential removing of polystyrene (PS) part from PS-b-P4VP. Additionally, dye was introduced into one part of block copolymer (P4VP) with the aim to modify its response to laser light. Resulting structures were analyzed by XPS, UV–vis and AFM techniques. Application of polarized laser light leads to creation of structures with hierarchical, recessed or hybrid geometries. Non-polarized laser beam allows pronouncing the block copolymer phase separated structure. Tuning the order of steps or individual step conditions enables the efficient reorientation of block-copolymer domain at large scale, fabrication of hierarchical, hybrid or recessed structures. The obtained structures can find potential applications in nanotechnology, photonics, plasmonics, information storage, optical devices, sensors and smart surfaces.

  17. Engineering hierarchical Diatom@CuO@MnO2 hybrid for high performance supercapacitor

    Science.gov (United States)

    Zhang, Yan; Guo, Wan Wan; Zheng, Tian Xu; Zhang, Yu Xin; Fan, Xing

    2018-01-01

    A rational and hierarchical Diatom@CuO@MnO2 hybrid was fabricated via a facile electroless copper plating technology, following by a one-pot hydrothermal reaction with KMnO4. Such unique architecture acts as a supercapacitor electrode, which exhibits a high specific capacitance (240 F g-1 at a current density of 0.5 A g-1), good rate capability (58.3% retention when the current density increases from 0.5 to 5 A g-1), and excellent electrochemical cycling stability (91.2% retention of the initial specific capacitance after 4000 cycles at a current density of 2 A g-1). The impressive electrochemical performance of this Diatom@CuO@MnO2 electrode ascribed to the synergistic effect between the CuO particles and MnO2 nanosheets. Therefore, it can be expected that this unique Diatom@CuO@MnO2 electrode may have great promise for the application in supercapacitors.

  18. Hybrid wood materials with magnetic anisotropy dictated by the hierarchical cell structure.

    Science.gov (United States)

    Merk, Vivian; Chanana, Munish; Gierlinger, Notburga; Hirt, Ann M; Burgert, Ingo

    2014-06-25

    Anisotropic and hierarchical structures are bound in nature and highly desired in engineered materials, due to their outstanding functions and performance. Mimicking such natural features with synthetic materials and methods has been a highly active area of research in the last decades. Unlike these methods, we use the native biomaterial wood, with its intrinsic anisotropy and hierarchy as a directional scaffold for the incorporation of magnetic nanoparticles inside the wood material. Nanocrystalline iron oxide particles were synthesized in situ via coprecipitation of ferric and ferrous ions within the interconnected pore network of bulk wood. Imaging with low-vacuum and cryogenic electron microscopy as well as spectral Raman mapping revealed layered nanosize particles firmly attached to the inner surface of the wood cell walls. The mineralogy of iron oxide was identified by XRD powder diffraction and Raman spectroscopy as a mixture of the spinel phases magnetite and maghemite. The intrinsic structural architecture of native wood entails a three-dimensional assembly of the colloidal iron oxide which results in direction-dependent magnetic features of the wood-mineral hybrid material. This superinduced magnetic anisotropy, as quantified by direction-dependent magnetic hysteresis loops and low-field susceptibility tensors, allows for directional lift, drag, alignment, (re)orientation, and actuation, and opens up novel applications of the natural resource wood.

  19. Novel hierarchical tantalum oxide-PDMS hybrid coating for medical implants: One pot synthesis, characterization and modulation of fibroblast proliferation.

    Science.gov (United States)

    Tran, Phong A; Fox, Kate; Tran, Nhiem

    2017-01-01

    Surface properties such as morphology, roughness and charge density have a strong influence on the interaction of biomaterials and cells. Hierarchical materials with a combination of micron/submicron and nanoscale features for coating of medical implants could therefore have significant potential to modulate cellular responses and eventually improve the performance of the implants. In this study, we report a simple, one pot wet chemistry preparation of a hybrid coating system with hierarchical surface structures consisting of polydimethylsiloxane (PDMS) and tantalum oxide. Medical grade, amine functional PDMS was mixed with tantalum ethoxide which subsequently formed Ta2O5in situ through hydrolysis and condensation during coating process. The coatings were characterized by SEM, EDS, XPS, confocal scanning microscopy, contact angle measurement and in vitro cell culture. Varying PDMS and tantalum ethoxide ratios resulted in coatings of different surface textures ranging from smooth to submicro- and nano-structured. Strikingly, hierarchical surfaces containing both microscale (1-1.5μm) and nanoscale (86-163nm) particles were found on coatings synthesized with 20% and 40% (v/v) tantalum ethoxide. The coatings were similar in term of hydrophobicity but showed different surface roughness and chemical composition. Importantly, higher cell proliferation was observed on hybrid surface with hierarchical structures compared to pure PDMS or pure tantalum oxide. The coating process is simple, versatile, carried out under ambient condition and requires no special equipment. Copyright © 2016 Elsevier Inc. All rights reserved.

  20. Pushing Typists Back on the Learning Curve: Memory Chunking in the Hierarchical Control of Skilled Typewriting

    Science.gov (United States)

    Yamaguchi, Motonori; Logan, Gordon D.

    2016-01-01

    Hierarchical control of skilled performance depends on the ability of higher level control to process several lower level units as a single chunk. The present study investigated the development of hierarchical control of skilled typewriting, focusing on the process of memory chunking. In the first 3 experiments, skilled typists typed words or…

  1. Hierarchically porous silicon–carbon–nitrogen hybrid materials towards highly efficient and selective adsorption of organic dyes

    Science.gov (United States)

    Meng, Lala; Zhang, Xiaofei; Tang, Yusheng; Su, Kehe; Kong, Jie

    2015-01-01

    The hierarchically macro/micro-porous silicon–carbon–nitrogen (Si–C–N) hybrid material was presented with novel functionalities of totally selective and highly efficient adsorption for organic dyes. The hybrid material was conveniently generated by the pyrolysis of commercial polysilazane precursors using polydivinylbenzene microspheres as sacrificial templates. Owing to the Van der Waals force between sp2-hybridized carbon domains and triphenyl structure of dyes, and electrostatic interaction between dyes and Si-C-N matrix, it exhibites high adsorption capacity and good regeneration and recycling ability for the dyes with triphenyl structure, such as methyl blue (MB), acid fuchsin (AF), basic fuchsin and malachite green. The adsorption process is determined by both surface adsorption and intraparticle diffusion. According to the Langmuir model, the adsorption capacity is 1327.7 mg·g−1 and 1084.5 mg·g−1 for MB and AF, respectively, which is much higher than that of many other adsorbents. On the contrary, the hybrid materials do not adsorb the dyes with azo benzene structures, such as methyl orange, methyl red and congro red. Thus, the hierarchically porous Si–C–N hybrid material from a facile and low cost polymer-derived strategy provides a new perspective and possesses a significant potential in the treatment of wastewater with complex organic pollutants. PMID:25604334

  2. Multi-Agent System based Event-Triggered Hybrid Controls for High-Security Hybrid Energy Generation Systems

    DEFF Research Database (Denmark)

    Dou, Chun-Xia; Yue, Dong; Guerrero, Josep M.

    2017-01-01

    This paper proposes multi-agent system based event- triggered hybrid controls for guaranteeing energy supply of a hybrid energy generation system with high security. First, a mul-ti-agent system is constituted by an upper-level central coordi-nated control agent combined with several lower......-level unit agents. Each lower-level unit agent is responsible for dealing with internal switching control and distributed dynamic regula-tion for its unit system. The upper-level agent implements coor-dinated switching control to guarantee the power supply of over-all system with high security. The internal...... switching control, distributed dynamic regulation and coordinated switching con-trol are designed fully dependent on the hybrid behaviors of all distributed energy resources and the logical relationships be-tween them, and interact with each other by means of the mul-ti-agent system to form hierarchical...

  3. Novel hybrid coatings with controlled wettability by composite nanoparticle aggregation

    Energy Technology Data Exchange (ETDEWEB)

    Hritcu, Doina, E-mail: dhritcu@ch.tuiasi.ro; Dodi, Gianina; Iordache, Mirabela L.; Draganescu, Dan; Sava, Elena; Popa, Marcel I.

    2016-11-30

    Highlights: • Magnetite-grafted chitosan composite nanoparticles were synthesized. • The particles are able to assemble under the influence of a silane derivative. • Thin films containing composites, chitosan and hydrolyzed silane were optimized. • The novel hybrid coatings show hierarchical roughness and high wetting angle. - Abstract: The aim of this study is to evaluate novel hybrid materials as potential candidates for producing coatings with hierarchical roughness and controlled wetting behaviour. Magnetite (Fe{sub 3}O{sub 4}) nanoparticles obtained by co-precipitation were embedded in matrices synthesized by radical graft co-polymerization of butyl acrylate (BA), butyl methacrylate (BMA), hexyl acrylate (HA) or styrene (ST) with ethylene glycol di-methacrylate (EGDMA) onto previously modified chitosan bearing surface vinyl groups. The resulting composite particles were characterized regarding their average size, composition and magnetic properties. Hybrid thin films containing suspension of composite particles in ethanol and pre-hydrolysed hexadecyltrimethoxysilane (HDTS) as a coupling/crosslinking agent were deposited by spin coating or spraying. The films were cured by heating and subsequently characterized regarding their morphology (scanning electron microscopy), contact angle with water and adhesion to substrate (scratch test). The structure-property relationship is discussed.

  4. Decentralized Hierarchical Controller Design for Selective Damping of Inter Area Oscillations Using PMU Signals

    OpenAIRE

    Ashfaque Ahmed Hashmani; Mukhtiar Ahmed Mahar; Tariq Jameel Saifullah Khanzada

    2011-01-01

    This paper deals with the decentralized hierarchical PSS (Power System Stabilizer) controller design to achieve a better damping of specific inter-area oscillations. The two-level decentralized hierarchical structure consists of two PSS controllers. The first level controller is a local PSS controller for each generator to damp local mode in the area where controller is located. This controller uses only local signals as input signals. The local signal comes from the generator ...

  5. Template-directed hierarchical self-assembly of graphene based hybrid structure for electrochemical biosensing.

    Science.gov (United States)

    Parlak, Onur; Tiwari, Atul; Turner, Anthony P F; Tiwari, Ashutosh

    2013-11-15

    A template-directed self-assembly approach, using functionalised graphene as a fundamental building block to obtain a hierarchically ordered graphene-enzyme-nanoparticle bioelectrode for electrochemical biosensing, is reported. An anionic surfactant was used to prepare a responsive, functional interface and direct the assembly on the surface of the graphene template. The surfactant molecules altered the electrostatic charges of graphene, thereby providing a convenient template-directed assembly approach to a free-standing planar sheet of sp(2) carbons. Cholesterol oxidase and cholesterol esterase were assembled on the surface of graphene by intermolecular attractive forces while gold nanoparticles are incorporated into the hetero-assembly to enhance the electro-bio-catalytic activity. Hydrogen peroxide and cholesterol were used as two representative analytes to demonstrate the electrochemical sensing performance of the graphene-based hybrid structure. The bioelectrode exhibited a linear response to H2O2 from 0.01 to 14 mM, with a detection limit of 25 nM (S/N=3). The amperometric response with cholesterol had a linear range from 0.05 to 0.35 mM, sensitivity of 3.14 µA/µM/cm(2) and a detection limit of 0.05 µM. The apparent Michaelis-Menten constant (Km(app)) was calculated to be 1.22 mM. This promising approach provides a novel methodology for template-directed bio-self-assembly over planar sp(2) carbons of a graphene sheet and furnishes the basis for fabrication of ultra-sensitive and efficient electrochemical biosensors. Copyright © 2013 Elsevier B.V. All rights reserved.

  6. Microgrids: Hierarchical Control and an Overview of the Control and Reserve Management Strategies

    DEFF Research Database (Denmark)

    Vandoorn, T.L.; Vasquez, Juan Carlos; de Kooning, D.M.

    2013-01-01

    in the network, allowing the DG units to actively contribute in the frequency and voltage regulation. Microgrids can provide such coordination by aggregating DG, (controllable) loads and storage in small-scale networks, that can operate both in grid-connected and islanded mode. Here, the islanded operating...... condition is considered. Analogous as in the conventional networks, a hierarchical control structure can be implemented in islanded microgrids. In recent years, many different concepts for primary, secondary and tertiary control of microgrids have been investigated. These controllers can be classified...... as either local or centralized. In this article, the hierarchical control for application in microgrids is discussed and an overview of the control strategies is given with respect to the reserve provision by the DG units, loads and storage equipment....

  7. Hierarchical Control of Droop-Controlled DC and AC Microgrids - A General Approach Towards Standardization

    DEFF Research Database (Denmark)

    Guerrero, Josep M.; Vásquez, Juan V.; Teodorescu, Remus

    2009-01-01

    DC and AC Microgrids are key elements to integrate renewable and distributed energy resources as well as distributed energy storage systems. In the last years, efforts toward the standardization of these Microgrids have been made. In this sense, this paper present the hierarchical control derived...

  8. Hybrid hierarchical bio-based materials: Development and characterization through experimentation and computational simulations

    Science.gov (United States)

    Haq, Mahmoodul

    but seems to decrease toughness. Thus, the traditionally seen opposite measures of stiffness and toughness can be brought to an efficient balance through the combination of bio-resin and nanoclay. A multiscale computational approach, namely a multi-FE based approach, was implemented to the developed materials to extrapolate the experimental matrix, to provide insight into nano-scale behavior beyond measurements and to hopefully serve as a tool for computational design of hybrid materials. Additionally, an enhanced RVE for modeling the three-phase material was determined by solving a topology optimization based material layout problem to determine the distribution of bio-resin, thereby allowing modeling the nanostructure in greater detail and closer to reality. Overall, eco-friendly, tailorable, cost-effective and multiscale reinforced bio-based composites were successfully developed. The improved multifaceted features possible for these sustainable bio-based materials are likely to increase their appeal for use in transportation and housing structural applications. Additionally, it is believed that the approach of understanding complex materials by integrating simulations and experiments, as attempted in this work, holds great promise, and a similar methodology can be applied for other types of hierarchical materials, thereby providing guidance in designing those materials.

  9. Neural Representations of Hierarchical Rule Sets: the Human Control System Represents Rules Irrespective of the Hierarchical Level They Belong to.

    Science.gov (United States)

    Pischedda, Doris; Görgen, Kai; Haynes, John-Dylan; Reverberi, Carlo

    2017-11-07

    Humans use rules to organize their actions to achieve specific goals. While simple rules that link a sensory stimulus to one response may suffice in some situations, often the application of multiple, hierarchically-organized rules is required. Recent theories suggest that progressively higher level rules are encoded along an anterior-to-posterior gradient within PFC. While some work supports the existence of such a functional gradient, other studies argue for a lesser degree of specialization within PFC.We used fMRI to investigate whether rules at different hierarchical levels are represented at distinct locations in the brain or encoded by a single system. Thirty-seven male and female participants represented and applied hierarchical rule sets containing one lower-level stimulus-response rule and one higher-level selection rule. We used multivariate pattern analysis to directly investigate the representation of rules at each hierarchical level in absence of information about rules from other levels or other task-related information, thus providing a clear identification of low- and high-level rule representations.We could decode low- and high-level rules from local patterns of brain activity within a wide frontoparietal network. However, no significant difference existed between regions encoding representations of rules from both levels, except for precentral gyrus that represented only low-level rule information. Our findings show that the brain represents conditional rules irrespective of their level in the explored hierarchy, and thus that the human control system did not organize task representation according to this dimension. Our paradigm represents a promising approach to identify critical principles that shape this control system.SIGNIFICANCE STATEMENTSeveral recent studies investigating the organization of the human control system propose that rules at different control levels are organized along an anterior-to-posterior gradient within PFC. In this

  10. Phase-Controlled Iron Oxide Nanobox Deposited on Hierarchically Structured Graphene Networks for Lithium Ion Storage and Photocatalysis

    Science.gov (United States)

    Yun, Sol; Lee, Young-Chul; Park, Ho Seok

    2016-01-01

    The phase control, hierarchical architecturing and hybridization of iron oxide is important for achieving multifunctional capability for many practical applications. Herein, hierarchically structured reduced graphene oxide (hrGO)/α-Fe2O3 and γ-Fe3O4 nanobox hybrids (hrGO/α-Fe and hrGO/γ-Fe NBhs) are synthesized via a one-pot, hydrothermal process and their functionality controlled by the crystalline phases is adapted for energy storage and photocatalysis. The three-dimensionally (3D) macroporous structure of hrGO/α-Fe NBhs is constructed, while α-Fe2O3 nanoboxes (NBs) in a proximate contact with the hrGO surface are simultaneously grown during a hydrothermal treatment. The discrete α-Fe2O3 NBs are uniformly distributed on the surface of the hrGO/α-Fe and confined in the 3D architecture, thereby inhibiting the restacking of rGO. After the subsequent phase transition into γ-Fe3O4, the hierarchical structure and the uniform distribution of NBs are preserved. Despite lower initial capacity, the hrGO/α-Fe NBhs show better rate and cyclic performances than those of commercial rGO/α-Fe due to the uniform distribution of discrete α-Fe2O3 NBs and electronic conductivity, macroporosity, and buffering effect of the hrGO for lithium ion battery anodes. Moreover, the catalytic activity and kinetics of hrGO/γ-Fe NBhs are enhanced for photo-Fenton reaction because of the uniform distribution of discrete γ-Fe3O4 NBs on the 3D hierarchical architecture.

  11. A "Hybrid" Approach for Synthesizing Optimal Controllers of Hybrid Systems

    DEFF Research Database (Denmark)

    Zhao, Hengjun; Zhan, Naijun; Kapur, Deepak

    2012-01-01

    We propose an approach to reduce the optimal controller synthesis problem of hybrid systems to quantifier elimination; furthermore, we also show how to combine quantifier elimination with numerical computation in order to make it more scalable but at the same time, keep arising errors due...

  12. Hierarchical Control Scheme for Voltage Harmonics Compensation in an Islanded Droop-Controlled Microgrid

    DEFF Research Database (Denmark)

    Savaghebi, Mehdi; Guerrero, Josep M.; Jalilian, Alireza

    2011-01-01

    controllers, and virtual impedance loop. A novel virtual impedance structure is proposed to achieve proper sharing of non-fundamental power among the microgrid DGs. The secondary level is designed to manage compensation of voltage harmonics at the microgrid load bus (LB) to which the sensitive loads may......In this paper, a microgrid hierarchical control scheme is proposed which includes primary and secondary control levels. The primary level comprises distributed generators (DGs) local controllers. The local controller mainly consists of active and reactive power controllers, voltage and current...

  13. Adaptive variable structure hierarchical fuzzy control for a class of high-order nonlinear dynamic systems.

    Science.gov (United States)

    Mansouri, Mohammad; Teshnehlab, Mohammad; Aliyari Shoorehdeli, Mahdi

    2015-05-01

    In this paper, a novel adaptive hierarchical fuzzy control system based on the variable structure control is developed for a class of SISO canonical nonlinear systems in the presence of bounded disturbances. It is assumed that nonlinear functions of the systems be completely unknown. Switching surfaces are incorporated into the hierarchical fuzzy control scheme to ensure the system stability. A fuzzy soft switching system decides the operation area of the hierarchical fuzzy control and variable structure control systems. All the nonlinearly appeared parameters of conclusion parts of fuzzy blocks located in different layers of the hierarchical fuzzy control system are adjusted through adaptation laws deduced from the defined Lyapunov function. The proposed hierarchical fuzzy control system reduces the number of rules and consequently the number of tunable parameters with respect to the ordinary fuzzy control system. Global boundedness of the overall adaptive system and the desired precision are achieved using the proposed adaptive control system. In this study, an adaptive hierarchical fuzzy system is used for two objectives; it can be as a function approximator or a control system based on an intelligent-classic approach. Three theorems are proven to investigate the stability of the nonlinear dynamic systems. The important point about the proposed theorems is that they can be applied not only to hierarchical fuzzy controllers with different structures of hierarchical fuzzy controller, but also to ordinary fuzzy controllers. Therefore, the proposed algorithm is more general. To show the effectiveness of the proposed method four systems (two mechanical, one mathematical and one chaotic) are considered in simulations. Simulation results demonstrate the validity, efficiency and feasibility of the proposed approach to control of nonlinear dynamic systems. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  14. Hierarchical sliding mode control for under-actuated cranes design, analysis and simulation

    CERN Document Server

    Qian, Dianwei

    2015-01-01

    This book reports on the latest developments in sliding mode overhead crane control, presenting novel research ideas and findings on sliding mode control (SMC), hierarchical SMC and compensator design-based hierarchical sliding mode. The results, which were previously scattered across various journals and conference proceedings, are now presented in a systematic and unified form. The book will be of interest to researchers, engineers and graduate students in control engineering and mechanical engineering who want to learn the methods and applications of SMC.

  15. A hierarchical voltage control method for multi-terminal AC/DC distribution system

    Science.gov (United States)

    Ma, Zhoujun; Zhu, Hong; Zhou, Dahong; Wang, Chunning; Tang, Renquan; Xu, Honghua

    2017-08-01

    A hierarchical control system is proposed in this paper to control the voltage of multi-terminal AC/DC distribution system. The hierarchical control system consists of PCC voltage control system, DG voltage control system and voltage regulator control system. The functions of three systems are to control the voltage of DC distribution network, AC bus voltage and area voltage. A method is proposed to deal with the whole control system. And a case study indicates that when voltage fluctuating, three layers of power flow control system is running orderly, and can maintain voltage stability.

  16. Research on a Hierarchical Dynamic Automatic Voltage Control System Based on the Discrete Event-Driven Method

    Directory of Open Access Journals (Sweden)

    Yong Min

    2013-06-01

    Full Text Available In this paper, concepts and methods of hybrid control systems are adopted to establish a hierarchical dynamic automatic voltage control (HD-AVC system, realizing the dynamic voltage stability of power grids. An HD-AVC system model consisting of three layers is built based on the hybrid control method and discrete event-driven mechanism. In the Top Layer, discrete events are designed to drive the corresponding control block so as to avoid solving complex multiple objective functions, the power system’s characteristic matrix is formed and the minimum amplitude eigenvalue (MAE is calculated through linearized differential-algebraic equations. MAE is applied to judge the system’s voltage stability and security and construct discrete events. The Middle Layer is responsible for management and operation, which is also driven by discrete events. Control values of the control buses are calculated based on the characteristics of power systems and the sensitivity method. Then control values generate control strategies through the interface block. In the Bottom Layer, various control devices receive and implement the control commands from the Middle Layer. In this way, a closed-loop power system voltage control is achieved. Computer simulations verify the validity and accuracy of the HD-AVC system, and verify that the proposed HD-AVC system is more effective than normal voltage control methods.

  17. DSP Control of Line Hybrid Active Filter

    DEFF Research Database (Denmark)

    Dan, Stan George; Benjamin, Doniga Daniel; Magureanu, R.

    2005-01-01

    Active Power Filters have been intensively explored in the past decade. Hybrid active filters inherit the efficiency of passive filters and the improved performance of active filters, and thus constitute a viable improved approach for harmonic compensation. In this paper a parallel hybrid filter ...... active filter. Simulation and experimental results obtained in laboratory confirmed the validity and effectiveness of the control.......Active Power Filters have been intensively explored in the past decade. Hybrid active filters inherit the efficiency of passive filters and the improved performance of active filters, and thus constitute a viable improved approach for harmonic compensation. In this paper a parallel hybrid filter...... is studied for current harmonic compensation. The hybrid filter is formed by a single tuned Le filter and a small-rated power active filter, which are directly connected in series without any matching transformer. Thus the required rating of the active filter is much smaller than a conventional standalone...

  18. Analysis and design of hybrid control systems

    Energy Technology Data Exchange (ETDEWEB)

    Malmborg, J.

    1998-05-01

    Different aspects of hybrid control systems are treated: analysis, simulation, design and implementation. A systematic methodology using extended Lyapunov theory for design of hybrid systems is developed. The methodology is based on conventional control designs in separate regions together with a switching strategy. Dynamics are not well defined if the control design methods lead to fast mode switching. The dynamics depend on the salient features of the implementation of the mode switches. A theorem for the stability of second order switching together with the resulting dynamics is derived. The dynamics on an intersection of two sliding sets are defined for two relays working on different time scales. The current simulation packages have problems modeling and simulating hybrid systems. It is shown how fast mode switches can be found before or during simulation. The necessary analysis work is a very small overhead for a modern simulation tool. To get some experience from practical problems with hybrid control the switching strategy is implemented in two different software environments. In one of them a time-optimal controller is added to an existing PID controller on a commercial control system. Successful experiments with this hybrid controller shows the practical use of the method 78 refs, 51 figs, 2 tabs

  19. Hierarchically Ordered Nanopatterns for Spatial Control of Biomolecules

    Science.gov (United States)

    2015-01-01

    The development and study of a benchtop, high-throughput, and inexpensive fabrication strategy to obtain hierarchical patterns of biomolecules with sub-50 nm resolution is presented. A diblock copolymer of polystyrene-b-poly(ethylene oxide), PS-b-PEO, is synthesized with biotin capping the PEO block and 4-bromostyrene copolymerized within the polystyrene block at 5 wt %. These two handles allow thin films of the block copolymer to be postfunctionalized with biotinylated biomolecules of interest and to obtain micropatterns of nanoscale-ordered films via photolithography. The design of this single polymer further allows access to two distinct superficial nanopatterns (lines and dots), where the PEO cylinders are oriented parallel or perpendicular to the substrate. Moreover, we present a strategy to obtain hierarchical mixed morphologies: a thin-film coating of cylinders both parallel and perpendicular to the substrate can be obtained by tuning the solvent annealing and irradiation conditions. PMID:25363506

  20. Distributed Hierarchical Control versus an Economic Model for Cloud Resource Management

    OpenAIRE

    Marinescu, Dan C.; Paya, Ashkan; Morrison, John P.; Healy, Philip

    2015-01-01

    We investigate a hierarchically organized cloud infrastructure and compare distributed hierarchical control based on resource monitoring with market mechanisms for resource management. The latter do not require a model of the system, incur a low overhead, are robust, and satisfy several other desiderates of autonomic computing. We introduce several performance measures and report on simulation studies which show that a straightforward bidding scheme supports an effective admission control mec...

  1. Modular supervisory controller for hybrid power systems

    Energy Technology Data Exchange (ETDEWEB)

    Lemos Pereira, A. de

    2000-06-01

    The power supply of remote places has been commonly provided by thermal power plants, usually diesel generators. Although hybrid power systems may constitute the most economical solution in many applications their widespread application to the electrification schemes of remote areas still depends on improvements in the issues of design and operation control. The main limitations of the present hybrid power systems technology, which are identified in this work, are related to the control and supervision of the power system. Therefore this thesis focuses on the modularity of supervisory controllers in order to design cost-competitive and reliable hybrid power systems. The modular supervisory controller created in this project is considered an important part of a system design approach that aims to overcome the technical difficulties of the current engineering practice and contribute to open the market of hybrid power systems. The term modular refers to a set of design characteristics that allows the use of basically the same supervisory controller in different projects. The modularization and standardisation of the controller include several issues such as interfacing components, communication protocols, modelling, programming and control strategies. The modularity can reduce the highly specialised system engineering related to the integration of components, operation and control. It can also avoid the high costs for installation, service and maintenance. A modular algorithm for supervisory controllers has been developed (a Matlab program called SuperCon) using an object-oriented design and it has been tested through several simulations using different hybrid system configurations and different control strategies. This thesis presents a complete control system design process which can be used as the basis for the development and implementation of intelligent and autonomous supervisory controllers for hybrid power systems with modular characteristics. (au)

  2. Evolved Finite State Controller For Hybrid System

    DEFF Research Database (Denmark)

    Dupuis, Jean-Francois; Fan, Zhun; Goodman, Erik

    2009-01-01

    This paper presents an evolutionary methodology to automatically generate nite state automata (FSA) controllers to control hybrid systems. FSA controllers for a case study of two-tank system have been successfully obtained using the proposed evolutionary approach. Experimental results show...

  3. Event-triggered hybrid control based on multi-Agent systems for Microgrids

    DEFF Research Database (Denmark)

    Dou, Chun-xia; Liu, Bin; Guerrero, Josep M.

    2014-01-01

    This paper is focused on a multi-agent system based event-triggered hybrid control for intelligently restructuring the operating mode of an microgrid (MG) to ensure the energy supply with high security, stability and cost effectiveness. Due to the microgrid is composed of different types of distr......This paper is focused on a multi-agent system based event-triggered hybrid control for intelligently restructuring the operating mode of an microgrid (MG) to ensure the energy supply with high security, stability and cost effectiveness. Due to the microgrid is composed of different types...... of distributed energy resources, thus it is typical hybrid dynamic network. Considering the complex hybrid behaviors, a hierarchical decentralized coordinated control scheme is firstly constructed based on multi-agent sys-tem, then, the hybrid model of the microgrid is built by using differential hybrid Petri...... nets. Based on the hybrid models, an event-triggered hybrid control including three kinds of switching controls is constructed by designing multiple enabling functions that can be activated by different triggering conditions, and the interactive coordination among different switching controls is im...

  4. Hierarchical Control for Voltage Harmonics Compensation in Multi-Area Microgrids

    DEFF Research Database (Denmark)

    Hashempour, Mohammad M.; Firoozabadi, Mehdi Savaghebi; Quintero, Juan Carlos Vasquez

    2015-01-01

    is proposed. Hierarchical control is applied to control DGs inverters and APFs in a coordinated way. Primary control consists of power droop controller of DGs, selective virtual impedance and voltage/current regulators. Based on the secondary control, voltage compensation of Points of Common Coupling (PCCs...

  5. Hybrid dynamical systems observation and control

    CERN Document Server

    Defoort, Michael

    2015-01-01

    This book is a collection of contributions defining the state of current knowledge and new trends in hybrid systems – systems involving both continuous dynamics and discrete events – as described by the work of several well-known groups of researchers. Hybrid Dynamical Systems presents theoretical advances in such areas as diagnosability, observability and stabilization for various classes of system. Continuous and discrete state estimation and self-triggering control of nonlinear systems are advanced. The text employs various methods, among them, high-order sliding modes, Takagi–Sugeno representation and sampled-data switching to achieve its ends. The many applications of hybrid systems from power converters to computer science are not forgotten; studies of flexible-joint robotic arms and – as representative biological systems – the behaviour of the human heart and vasculature, demonstrate the wide-ranging practical significance of control in hybrid systems. The cross-disciplinary origins of study ...

  6. Full Gradient Solution to Adaptive Hybrid Control

    Science.gov (United States)

    Bean, Jacob; Schiller, Noah H.; Fuller, Chris

    2017-01-01

    This paper focuses on the adaptation mechanisms in adaptive hybrid controllers. Most adaptive hybrid controllers update two filters individually according to the filtered reference least mean squares (FxLMS) algorithm. Because this algorithm was derived for feedforward control, it does not take into account the presence of a feedback loop in the gradient calculation. This paper provides a derivation of the proper weight vector gradient for hybrid (or feedback) controllers that takes into account the presence of feedback. In this formulation, a single weight vector is updated rather than two individually. An internal model structure is assumed for the feedback part of the controller. The full gradient is equivalent to that used in the standard FxLMS algorithm with the addition of a recursive term that is a function of the modeling error. Some simulations are provided to highlight the advantages of using the full gradient in the weight vector update rather than the approximation.

  7. Hybrid Predictive Control for Dynamic Transport Problems

    CERN Document Server

    Núñez, Alfredo A; Cortés, Cristián E

    2013-01-01

    Hybrid Predictive Control for Dynamic Transport Problems develops methods for the design of predictive control strategies for nonlinear-dynamic hybrid discrete-/continuous-variable systems. The methodology is designed for real-time applications, particularly the study of dynamic transport systems. Operational and service policies are considered, as well as cost reduction. The control structure is based on a sound definition of the key variables and their evolution. A flexible objective function able to capture the predictive behaviour of the system variables is described. Coupled with efficient algorithms, mainly drawn from the area of computational intelligence, this is shown to optimize performance indices for real-time applications. The framework of the proposed predictive control methodology is generic and, being able to solve nonlinear mixed-integer optimization problems dynamically, is readily extendable to other industrial processes. The main topics of this book are: ●hybrid predictive control (HPC) ...

  8. Autonomous Navigation Motion Control of Mobile Robots using Hybrid System Control Method

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Y.M. [Samsung Electronics Co., Ltd., Seoul (Korea); Lim, M.S. [Kyonggi Institute of Technology, Shihung (Korea); Lim, J.H. [Hanyang University, Seoul (Korea)

    2002-05-01

    This paper presents a framework of hybrid dynamic control systems for the motion control of wheeled mobile robot systems with nonholonomic constraints. The hybrid control system has the 3-layered hierarchical structure: digital automata for the higher process, mobile robot system for the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. In the hybrid control architecture of mobile robot, the continuous dynamics of mobile robots are modeled by the switched systems. The abstract model and digital automata for the motion control are developed. In high level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot in low level are specified in the abstracted motions. The mobile robots can perform both the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Simulation and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments. (author). 13 refs., 13 figs., 1 tab.

  9. Controllable Modular Growth of Hierarchical MOF-on-MOF Architectures.

    Science.gov (United States)

    Gu, Yifan; Wu, Yi-Nan; Li, Liangchun; Chen, Wei; Li, Fengting; Kitagawa, Susumu

    2017-12-04

    Fabrication of hybrid MOF-on-MOF heteroarchitectures can create novel and multifunctional platforms to achieve desired properties. However, only MOFs with similar crystallographic parameters can be hybridized by the classical epitaxial growth method (EGM), which largely suppressed its applications. A general strategy, called internal extended growth method (IEGM), is demonstrated for the feasible assembly of MOFs with distinct crystallographic parameters in an MOF matrix. Various MOFs with diverse functions could be introduced in a modular MOF matrix to form 3D core-satellite pluralistic hybrid system. The number of different MOF crystals interspersed could be varied on demand. More importantly, the different MOF crystals distributed in individual domains could be used to further incorporate functional units or enhance target functions. © 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

  10. Preventing Distribution Grid Congestion by Integrating Indirect Control in a Hierarchical Electric Vehicles Management System

    DEFF Research Database (Denmark)

    Hu, Junjie; Si, Chengyong; Lind, Morten

    2016-01-01

    In this paper, a hierarchical management system is proposed to integrate electric vehicles (EVs) into a distribution grid. Three types of actors are included in the system: Distribution system operators (DSOs), Fleet operators (FOs) and EV owners. In contrast to a typical hierarchical control...... system where the upper level controller directly controls the lower level subordinated nodes, this study aims to integrate two common indirect control methods:market-based control and price-based control into the hierarchical electric vehicles management system. Specifically, on the lower level...... of the hierarchy, the FOs coordinate the charging behaviors of their EV users using a price-based control method. A parametric utility model is used on the lower level to characterize price elasticity of electric vehicles and thus used by the FO to coordinate the individual EV charging. On the upper level...

  11. Loss Performance Modeling for Hierarchical Heterogeneous Wireless Networks With Speed-Sensitive Call Admission Control

    DEFF Research Database (Denmark)

    Huang, Qian; Huang, Yue-Cai; Ko, King-Tim

    2011-01-01

    A hierarchical overlay structure is an alternative solution that integrates existing and future heterogeneous wireless networks to provide subscribers with better mobile broadband services. Traffic loss performance in such integrated heterogeneous networks is necessary for an operator's network...... dimensioning and planning. This paper investigates the computationally efficient loss performance modeling for multiservice in hierarchical heterogeneous wireless networks. A speed-sensitive call admission control (CAC) scheme is considered in our model to assign overflowed calls to appropriate tiers...

  12. An enhanced hierarchical control strategy for the Internet of Things-based home scale microgrid

    DEFF Research Database (Denmark)

    Guan, Yajuan; Quintero, Juan Carlos Vasquez; Guerrero, Josep M.

    2017-01-01

    As the intelligent control and detection technology improving, more and more smart devices/sensors can be used to increase the living standard. In order to integrate the Internet of Things (IoT) with microgrid (MG), an enhanced hierarchical control strategy for IoT-based home scale MG is proposed....... In this sense, the IoT infrastructure can be smoothly integrated with the original MG hierarchical Control theory. The proposed structure will be implemented in an IoT MG laboratory in line with VICINITY project at Aalborg University, Denmark.......As the intelligent control and detection technology improving, more and more smart devices/sensors can be used to increase the living standard. In order to integrate the Internet of Things (IoT) with microgrid (MG), an enhanced hierarchical control strategy for IoT-based home scale MG is proposed...

  13. Controllable synthesis of hierarchical strontium molybdate by sonochemical method

    Energy Technology Data Exchange (ETDEWEB)

    Jiang, Wanquan; Zhu, Wei [Department of Chemistry, University of Science and Technology of China (USTC), Hefei 230026 (China); Peng, Chao; Yang, Fan; Xuan, Shouhu; Gong, Xinglong [CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, USTC, Hefei 230027 (China)

    2012-09-15

    Large-scale chrysanthemum-like strontium molybdate (SrMoO{sub 4}) with hierarchical structure has been successfully synthesized via a facile and fast ultrasound irradiation approach at room temperature. By varying the experimental conditions, SrMoO{sub 4} with different morphologies, such as spindles, peanuts, spheres, and rods, can be obtained. The products are characterized by X-ray diffraction (XRD), scanning electron microscopy (SEM), transmission electron microscopy (TEM), and selected-area electron diffraction (SAED). The influent parameters including concentration, pH value, and surfactants have been investigated. A possible growth mechanism is proposed and the shape evolution of the products is characterized. The as-prepared chrysanthemum-like SrMoO{sub 4} particles are used as the precursor for electrorheological fluid and their electrorheological property is investigated. (Copyright copyright 2012 WILEY-VCH Verlag GmbH and Co. KGaA, Weinheim)

  14. Hierarchical Control Strategy for the Cooperative Braking System of Electric Vehicle

    OpenAIRE

    Jiankun Peng; Hongwen He; Wei Liu; Hongqiang Guo

    2015-01-01

    This paper provides a hierarchical control strategy for cooperative braking system of an electric vehicle with separated driven axles. Two layers are defined: the top layer is used to optimize the braking stability based on two sliding mode control strategies, namely, the interaxle control mode and signal-axle control strategies; the interaxle control strategy generates the ideal braking force distribution in general braking condition, and the single-axle control strategy can ensure braking s...

  15. A Novel Hierarchical Control Strategy for the Internet of Things based Home Scale Microgrid

    DEFF Research Database (Denmark)

    Guan, Yajuan; Quintero, Juan Carlos Vasquez; Guerrero, Josep M.

    2017-01-01

    As the intelligent control and detection technology improving, more and more smart devices/sensors can be used to increase the living standard. In order to integrate the Internet of Things (IoT) with microgrid (MG), an enhanced hierarchical control strategy for IoT-based home scale MG is proposed....... In this sense, the IoT infrastructure can be smoothly integrated with the original MG hierarchical Control theory. The proposed structure will be implemented in an IoT MG laboratory in line with VICINITY project at Aalborg University, Denmark....

  16. Infinite dimensional differential games with hybrid controls

    Indian Academy of Sciences (India)

    unique viscosity solution of the associated system of quasi-variational inequalities. Keywords. Differential game; strategy; hybrid controls; value; viscosity solution. 1. Introduction and preliminaries. The study of differential games with Elliott–Kalton strategies in the viscosity solution framework is initiated by Evans and ...

  17. Control of a hybrid helicopter with wings

    NARCIS (Netherlands)

    de Wagter, C.; Smeur, E.J.J.

    2017-01-01

    This work investigates the design parameters and their consequences in the control of a helicopter rotor combined with a pair of fixed wings. This hybrid vehicle has a light and aerodynamically efficient rotor with a large range of pitch angles to enable both hover and forward flight. Because of the

  18. MERCURY CONTROL WITH ADVANCED HYBRID PARTICULATE COLLECTOR

    Energy Technology Data Exchange (ETDEWEB)

    Ye Zhuang; Stanley J. Miller

    2005-05-01

    This project was awarded under U.S. Department of Energy (DOE) National Energy Technology Laboratory (NETL) Program Solicitation DE-PS26-00NT40769 and specifically addressed Technical Topical Area 4-Testing Novel and Less Mature Control Technologies on Actual Flue Gas at the Pilot Scale. The project team included the Energy & Environmental Research Center (EERC) as the main contractor; W.L. Gore & Associates, Inc., as a technical and financial partner; and the Big Stone Power Plant operated by Otter Tail Power Company, host for the field-testing portion of the research. Since 1995, DOE has supported development of a new concept in particulate control called the advanced hybrid particulate collector (AHPC). The AHPC has been licensed to W.L. Gore & Associates, Inc., and has been marketed as the Advanced Hybrid{trademark} filter by Gore. The Advanced Hybrid{trademark} filter combines the best features of electrostatic precipitators (ESPs) and baghouses in a unique configuration, providing major synergism between the two collection methods, both in the particulate collection step and in the transfer of dust to the hopper. The Advanced Hybrid{trademark} filter provides ultrahigh collection efficiency, overcoming the problem of excessive fine-particle emissions with conventional ESPs, and it solves the problem of reentrainment and re-collection of dust in conventional baghouses. The Advanced Hybrid{trademark} filter also appears to have unique advantages for mercury control over baghouses or ESPs as an excellent gas--solid contactor. The objective of the project was to demonstrate 90% total mercury control in the Advanced Hybrid{trademark} filter at a lower cost than current mercury control estimates. The approach included bench-scale batch tests, larger-scale pilot testing with real flue gas on a coal-fired combustion system, and field demonstration at the 2.5-MW (9000-acfm) scale at a utility power plant to prove scale-up and demonstrate longer-term mercury control

  19. Homework Assignments in Hybrid and Embedded Control

    OpenAIRE

    Mattsson, Niklas

    2006-01-01

    In this thesis we discuss the development of three homeworks for the course Hybrid and Embedded Control Systems given at the institution S3 (Signals, Sensors and Systems) at the Royal Institute of Technology (KTH) in Stockholm. The main objective of the course is to present tools for modeling, analyze and design embedded control system. The course, first given in spring 2003, is interdisciplinary since its program cover arguments strictly related to system theory and computer science. As part...

  20. Hierarchical control of a photovoltaic/battery based DC microgrid including electric vehicle wireless charging station

    DEFF Research Database (Denmark)

    Xiao, Zhao xia; Fan, Haodong; Guerrero, Josep M.

    2017-01-01

    controllers. Local controllers implement these functions, which include PV maximum power point tracking (MPPT) algorithm, battery charging/discharging control, voltage control of DC bus for high-frequency inverter, and onboard battery charging control. By optimizing and matching parameters of transmitting......In this paper, the hierarchical control strategy of a photovoltaic/battery based dc microgrid is presented for electric vehicle (EV) wireless charging. Considering irradiance variations, battery charging/discharging requirements, wireless power transmission characteristics, and onboard battery...... charging power change and other factors, the possible operation states are obtained. A hierarchical control strategy is established, which includes central and local controllers. The central controller is responsible for the selection and transfer of operation states and the management of the local...

  1. Hierarchical structure controls nanomechanical properties of vimentin intermediate filaments.

    Directory of Open Access Journals (Sweden)

    Zhao Qin

    Full Text Available Intermediate filaments (IFs, in addition to microtubules and microfilaments, are one of the three major components of the cytoskeleton in eukaryotic cells, playing a vital role in mechanotransduction and in providing mechanical stability to cells. Despite the importance of IF mechanics for cell biology and cell mechanics, the structural basis for their mechanical properties remains unknown. Specifically, our understanding of fundamental filament properties, such as the basis for their great extensibility, stiffening properties, and their exceptional mechanical resilience remains limited. This has prevented us from answering fundamental structure-function relationship questions related to the biomechanical role of intermediate filaments, which is crucial to link structure and function in the protein material's biological context. Here we utilize an atomistic-level model of the human vimentin dimer and tetramer to study their response to mechanical tensile stress, and describe a detailed analysis of the mechanical properties and associated deformation mechanisms. We observe a transition from alpha-helices to beta-sheets with subsequent interdimer sliding under mechanical deformation, which has been inferred previously from experimental results. By upscaling our results we report, for the first time, a quantitative comparison to experimental results of IF nanomechanics, showing good agreement. Through the identification of links between structures and deformation mechanisms at distinct hierarchical levels, we show that the multi-scale structure of IFs is crucial for their characteristic mechanical properties, in particular their ability to undergo severe deformation of approximately 300% strain without breaking, facilitated by a cascaded activation of a distinct deformation mechanisms operating at different levels. This process enables IFs to combine disparate properties such as mechanosensitivity, strength and deformability. Our results enable a

  2. Decentralized Hierarchical Controller Design for Selective Damping of Inter Area Oscillations Using PMU Signals

    Directory of Open Access Journals (Sweden)

    Ashfaque Ahmed Hashmani

    2011-07-01

    Full Text Available This paper deals with the decentralized hierarchical PSS (Power System Stabilizer controller design to achieve a better damping of specific inter-area oscillations. The two-level decentralized hierarchical structure consists of two PSS controllers. The first level controller is a local PSS controller for each generator to damp local mode in the area where controller is located. This controller uses only local signals as input signals. The local signal comes from the generator at which the controller is located. The secondary level controller is a multivariable decentralized global PSS controller to damp inter-area modes. This controller uses selected suitable wide area PMU (Phasor Measurement Units signals as inputs. The PMU or global signals are taken from network locations where the oscillations are well observable. The global controller uses only those global input signals in which the assigned single inter-area mode is most observable and is located at a generator that is most effective in controlling the assigned mode. The global controller works mainly in a frequency band given by the natural frequency of the assigned mode. The effectiveness of the resulting hierarchical controller is demonstrated through simulation studies conducted on a test power system.

  3. Controlled unknown quantum operations on hybrid systems

    Science.gov (United States)

    He, Yong; Luo, Ming-Xing

    2016-12-01

    Any unknown unitary operations conditioned on a control system can be deterministically performed if ancillary subspaces are available for the target systems [Zhou X Q, et al. 2011 Nat. Commun. 2 413]. In this paper, we show that previous optical schemes may be extended to general hybrid systems if unknown operations are provided by optical instruments. Moreover, a probabilistic scheme is proposed when the unknown operation may be performed on the subspaces of ancillary high-dimensional systems. Furthermore, the unknown operations conditioned on the multi-control system may be reduced to the case with a control system using additional linear circuit complexity. The new schemes may be more flexible for different systems or hybrid systems. Project supported by the National Natural Science Foundation of China (Grant Nos. 61303039 and 61201253), Chunying Fellowship, and Fundamental Research Funds for the Central Universities, China (Grant No. 2682014CX095).

  4. A supplier selection using a hybrid grey based hierarchical clustering and artificial bee colony

    Directory of Open Access Journals (Sweden)

    Farshad Faezy Razi

    2014-06-01

    Full Text Available Selection of one or a combination of the most suitable potential providers and outsourcing problem is the most important strategies in logistics and supply chain management. In this paper, selection of an optimal combination of suppliers in inventory and supply chain management are studied and analyzed via multiple attribute decision making approach, data mining and evolutionary optimization algorithms. For supplier selection in supply chain, hierarchical clustering according to the studied indexes first clusters suppliers. Then, according to its cluster, each supplier is evaluated through Grey Relational Analysis. Then the combination of suppliers’ Pareto optimal rank and costs are obtained using Artificial Bee Colony meta-heuristic algorithm. A case study is conducted for a better description of a new algorithm to select a multiple source of suppliers.

  5. Battery control system for hybrid vehicle and method for controlling a hybrid vehicle battery

    Science.gov (United States)

    Bockelmann, Thomas R [Battle Creek, MI; Hope, Mark E [Marshall, MI; Zou, Zhanjiang [Battle Creek, MI; Kang, Xiaosong [Battle Creek, MI

    2009-02-10

    A battery control system for hybrid vehicle includes a hybrid powertrain battery, a vehicle accessory battery, and a prime mover driven generator adapted to charge the vehicle accessory battery. A detecting arrangement is configured to monitor the vehicle accessory battery's state of charge. A controller is configured to activate the prime mover to drive the generator and recharge the vehicle accessory battery in response to the vehicle accessory battery's state of charge falling below a first predetermined level, or transfer electrical power from the hybrid powertrain battery to the vehicle accessory battery in response to the vehicle accessory battery's state of charge falling below a second predetermined level. The invention further includes a method for controlling a hybrid vehicle powertrain system.

  6. Hierarchical Fault Diagnosis for a Hybrid System Based on a Multidomain Model

    Directory of Open Access Journals (Sweden)

    Jiming Ma

    2015-01-01

    Full Text Available The diagnosis procedure is performed by integrating three steps: multidomain modeling, event identification, and failure event classification. Multidomain model can describe the normal and fault behaviors of hybrid systems efficiently and can meet the diagnosis requirements of hybrid systems. Then the multidomain model is used to simulate and obtain responses under different failure events; the responses are further utilized as a priori information when training the event identification library. Finally, a brushless DC motor is selected as the study case. The experimental result indicates that the proposed method could identify the known and unknown failure events of the studied system. In particular, for a system with less response information under a failure event, the accuracy of diagnosis seems to be higher. The presented method integrates the advantages of current quantitative and qualitative diagnostic procedures and can distinguish between failures caused by parametric and abrupt structure faults. Another advantage of our method is that it can remember unknown failure types and automatically extend the adaptive resonance theory neural network library, which is extremely useful for complex hybrid systems.

  7. Hierarchical Control Strategy for the Cooperative Braking System of Electric Vehicle.

    Science.gov (United States)

    Peng, Jiankun; He, Hongwen; Liu, Wei; Guo, Hongqiang

    2015-01-01

    This paper provides a hierarchical control strategy for cooperative braking system of an electric vehicle with separated driven axles. Two layers are defined: the top layer is used to optimize the braking stability based on two sliding mode control strategies, namely, the interaxle control mode and signal-axle control strategies; the interaxle control strategy generates the ideal braking force distribution in general braking condition, and the single-axle control strategy can ensure braking safety in emergency braking condition; the bottom layer is used to maximize the regenerative braking energy recovery efficiency with a reallocated braking torque strategy; the reallocated braking torque strategy can recovery braking energy as much as possible in the premise of meeting battery charging power. The simulation results show that the proposed hierarchical control strategy is reasonable and can adapt to different typical road surfaces and load cases; the vehicle braking stability and safety can be guaranteed; furthermore, the regenerative braking energy recovery efficiency can be improved.

  8. Microgrid Central Controller Development and Hierarchical Control Implementation in the Intelligent MicroGrid Lab of Aalborg University

    DEFF Research Database (Denmark)

    Meng, Lexuan; Savaghebi, Mehdi; Andrade, Fabio

    2015-01-01

    in this lab is based on the hierarchical control scheme for microgrids and includes primary, secondary and tertiary control. The structure of the lab, including the lab facilities, configurations and communication network, is first introduced. Primary control loops are developed in MATLAB...

  9. Hierarchical Motion Control for a Team of Humanoid Soccer Robots

    Directory of Open Access Journals (Sweden)

    Seung-Joon Yi

    2016-02-01

    Full Text Available Robot soccer has become an effective benchmarking problem for robotics research as it requires many aspects of robotics including perception, self localization, motion planning and distributed coordination to work in uncertain and adversarial environments. Especially with humanoid robots that lack inherent stability, a capable and robust motion controller is crucial for generating walking and kicking motions without losing balance. In this paper, we describe the details of a motion controller to control a team of humanoid soccer robots, which consists of a hierarchy of controllers with different time frames and abstraction levels. A low level controller governs the real time control of each joint angle, either using target joint angles or target endpoint transforms. A mid-level controller handles bipedal locomotion and balancing of the robot. A high level controller decides the long term behavior of the robot, and finally the team level controller coordinates the behavior of a group of robots by means of asynchronous communication between the robots. The suggested motion system has been successfully used by many humanoid robot teams at the RoboCup international robot soccer competitions, which has awarded us five successful championships in a row.

  10. Hierarchical type-2 fuzzy aggregation of fuzzy controllers

    CERN Document Server

    Cervantes, Leticia

    2016-01-01

    This book focuses on the fields of fuzzy logic, granular computing and also considering the control area. These areas can work together to solve various control problems, the idea is that this combination of areas would enable even more complex problem solving and better results. In this book we test the proposed method using two benchmark problems: the total flight control and the problem of water level control for a 3 tank system. When fuzzy logic is used it make it easy to performed the simulations, these fuzzy systems help to model the behavior of a real systems, using the fuzzy systems fuzzy rules are generated and with this can generate the behavior of any variable depending on the inputs and linguistic value. For this reason this work considers the proposed architecture using fuzzy systems and with this improve the behavior of the complex control problems.

  11. Modelling supervisory controller for hybrid power systems

    Energy Technology Data Exchange (ETDEWEB)

    Pereira, A.; Bindner, H.; Lundsager, P. [Risoe National Lab., Roskilde (Denmark); Jannerup, O. [Technical Univ. of Denmark, Dept. of Automation, Lyngby (Denmark)

    1999-03-01

    Supervisory controllers are important to achieve optimal operation of hybrid power systems. The performance and economics of such systems depend mainly on the control strategy for switching on/off components. The modular concept described in this paper is an attempt to design standard supervisory controllers that could be used in different applications, such as village power and telecommunication applications. This paper presents some basic aspects of modelling and design of modular supervisory controllers using the object-oriented modelling technique. The functional abstraction hierarchy technique is used to formulate the control requirements and identify the functions of the control system. The modular algorithm is generic and flexible enough to be used with any system configuration and several goals (different applications). The modularity includes accepting modification of system configuration and goals during operation with minor or no changes in the supervisory controller. (au)

  12. Design and Co-simulation of Hierarchical Architecture for Demand Response Control and Coordination

    DEFF Research Database (Denmark)

    Bhattarai, Bishnu Prasad; Lévesque, Martin; Bak-Jensen, Birgitte

    2017-01-01

    Demand response (DR) plays a key role for optimum asset utilization and to avoid or delay the need of new infrastructure investment. However, coordinated execution of multiple DRs is desired to maximize the DR benefits. In this study, we propose a hierarchical DR architecture (HDRA) to control an...

  13. Hierarchical Control Architecture for Demand Response in Smart Grid Scenario

    DEFF Research Database (Denmark)

    Bhattarai, Bishnu Prasad; Bak-Jensen, Birgitte; Mahat, Pukar

    2013-01-01

    , a number of issues, including DR enabling technologies, control strategy, and control architecture, are still under discussion. This paper outlines novel control requirements based on the categorization of existing DR techniques. More specifically, the roles and responsibilities of smart grid actors...... effective tool for optimum asset utilization and to avoid or delay the need for new infrastructure investment. Furthermore, most of the power networks are under the process of reconfiguration to realize the concept of smart grid and are at the transforming stage to support various forms of DR. However...

  14. Exporting Variables in a Hierarchically Distributed Control System

    Energy Technology Data Exchange (ETDEWEB)

    Chamizo Llatas, M.

    1995-07-01

    We describe the Remote Variable Access Service (RVAS), a network service developed and used in the distributed control and monitoring system of the TJ-II Heliac, which is under construction at CIEMAT (Madrid, Spain) and devoted to plasma studies in the nuclear fusion field. The architecture of the TJ-II control system consists of one central Sun workstation Sparc 10 and several autonomous subsystems based on VME crates with embedded processors running the OS-9 (V.24) real time operating system. The RVAS service allows state variables in local control processes running in subsystems to be exported to remote processes running in the central control workstation. Thus we extend the concept of exporting of file systems in UNIX machines to variables in processes running in different machines. (Author) 6 refs.

  15. Hierarchical Model Predictive Control for Sustainable Building Automation

    OpenAIRE

    Barbara Mayer; Michaela Killian; Martin Kozek

    2017-01-01

    A hierarchicalmodel predictive controller (HMPC) is proposed for flexible and sustainable building automation. The implications of a building automation system for sustainability are defined, and model predictive control is introduced as an ideal tool to cover all requirements. The HMPC is presented as a development suitable for the optimization of modern buildings, as well as retrofitting. The performance and flexibility of the HMPC is demonstrated by simulation studies of a modern office bu...

  16. Hierarchical Motion Control for a Team of Humanoid Soccer Robots

    OpenAIRE

    Seung-Joon Yi; Stephen McGill; Dennis Hong; Daniel Lee

    2016-01-01

    Robot soccer has become an effective benchmarking problem for robotics research as it requires many aspects of robotics including perception, self localization, motion planning and distributed coordination to work in uncertain and adversarial environments. Especially with humanoid robots that lack inherent stability, a capable and robust motion controller is crucial for generating walking and kicking motions without losing balance. In this paper, we describe the details of a motion controller...

  17. Dechlorination of Environmental Contaminants Using a Hybrid Nanocatalyst: Palladium Nanoparticles Supported on Hierarchical Carbon Nanostructures

    Directory of Open Access Journals (Sweden)

    Hema Vijwani

    2012-01-01

    Full Text Available This paper demonstrates the effectiveness of a new type of hybrid nanocatalyst material that combines the high surface area of nanoparticles and nanotubes with the structural robustness and ease of handling larger supports. The hybrid material is made by fabricating palladium nanoparticles on two types of carbon supports: as-received microcellular foam (Foam and foam with carbon nanotubes anchored on the pore walls (CNT/Foam. Catalytic reductive dechlorination of carbon tetrachloride with these materials has been investigated using gas chromatography. It is seen that while both palladium-functionalized carbon supports are highly effective in the degradation of carbon tetrachloride, the rate of degradation is significantly increased with palladium on CNT/Foam. However, there is scope to increase this rate further if the wettability of these structures can be enhanced in the future. Microstructural and spectroscopic analyses of the fresh and used catalysts have been compared which indicates that there is no change in density or surface chemical states of the catalyst after prolonged use in dechlorination test. This implies that these materials can be used repeatedly and hence provide a simple, powerful, and cost-effective approach for dechlorination of water.

  18. Hierarchical Control for Optimal and Distributed Operation of Microgrid Systems

    DEFF Research Database (Denmark)

    Meng, Lexuan

    The distributed generation, storage and consumption, as well as the sustainability consideration prompt a revolution to the existing electric power grid. Microgrids (MG) concept has been proposed to liberate the operation of each distribution system fraction, forming in that way a flexible......, a discrete-time domain modeling method is proposed to establish an accurate system level model. Taking into account the different sampling times of real world plant, digital controller and communication devices, the system is modeled with these three parts separately, and with full consideration...... and performance with the proposed control schemes and modeling methods, experimental and hardware-in-the-loop simulation studies are conducted in the intelligent MG lab. The successful realization of online optimization and distributed control functions is expected to be able to provide guidance for real world...

  19. Hierarchical Model Predictive Control for Sustainable Building Automation

    Directory of Open Access Journals (Sweden)

    Barbara Mayer

    2017-02-01

    Full Text Available A hierarchicalmodel predictive controller (HMPC is proposed for flexible and sustainable building automation. The implications of a building automation system for sustainability are defined, and model predictive control is introduced as an ideal tool to cover all requirements. The HMPC is presented as a development suitable for the optimization of modern buildings, as well as retrofitting. The performance and flexibility of the HMPC is demonstrated by simulation studies of a modern office building, and the perfect interaction with future smart grids is shown.

  20. A Hierarchical Control Architecture for a PEBB-Based ILC Marx Modulator

    Energy Technology Data Exchange (ETDEWEB)

    Macken, K.; Burkhart, C.; Larsen, R.; Nguyen, M.N.; Olsen, J.; /SLAC

    2011-12-15

    The idea of building power conversion systems around Power Electronic Building Blocks (PEBBs) was initiated by the U.S. Office of Naval Research in the mid 1990s. A PEBB-based design approach is advantageous in terms of power density, modularity, reliability, and serviceability. It is obvious that this approach has much appeal for pulsed power conversion including the International Linear Collider (ILC) klystron modulator application. A hierarchical control architecture has the inherent capability to support the integration of PEBBs. This has already been successfully demonstrated in a number of industrial applications in the recent past. This paper outlines the underlying concepts of a hierarchical control architecture for a PEBB-based Marx-topology ILC klystron modulator. The control in PEBB-based power conversion systems can be functionally partitioned into (three) hierarchical layers; system layer, application layer, and PEBB layer. This has been adopted here. Based on such a hierarchical partition, the interfaces are clearly identified and defined and, consequently, are easily characterised. A conceptual design of the hardware manager, executing low-level hardware oriented tasks, is detailed. In addition, the idea of prognostics is briefly discussed.

  1. Hierarchical Compliance Control of a Soft Ankle Rehabilitation Robot Actuated by Pneumatic Muscles

    Directory of Open Access Journals (Sweden)

    Quan Liu

    2017-12-01

    Full Text Available Traditional compliance control of a rehabilitation robot is implemented in task space by using impedance or admittance control algorithms. The soft robot actuated by pneumatic muscle actuators (PMAs is becoming prominent for patients as it enables the compliance being adjusted in each active link, which, however, has not been reported in the literature. This paper proposes a new compliance control method of a soft ankle rehabilitation robot that is driven by four PMAs configured in parallel to enable three degrees of freedom movement of the ankle joint. A new hierarchical compliance control structure, including a low-level compliance adjustment controller in joint space and a high-level admittance controller in task space, is designed. An adaptive compliance control paradigm is further developed by taking into account patient’s active contribution and movement ability during a previous period of time, in order to provide robot assistance only when it is necessarily required. Experiments on healthy and impaired human subjects were conducted to verify the adaptive hierarchical compliance control scheme. The results show that the robot hierarchical compliance can be online adjusted according to the participant’s assessment. The robot reduces its assistance output when participants contribute more and vice versa, thus providing a potentially feasible solution to the patient-in-loop cooperative training strategy.

  2. Hierarchical Polyphosphazene@Molybdenum Disulfide Hybrid Structure for Enhancing the Flame Retardancy and Mechanical Property of Epoxy Resins.

    Science.gov (United States)

    Zhou, Xia; Qiu, Shuilai; Xing, Weiyi; Gangireddy, Chandra Sekhar Reddy; Gui, Zhou; Hu, Yuan

    2017-08-30

    A novel polyphosphazene (PZS) microsphere@molybdenum disulfide nanoflower (MoS 2 ) hierarchical hybrid architecture was first synthesized and applied for enhancing the mechanical performance and flame retardancy of epoxy (EP) resin via a cooperative effect. Herein, using PZS microsphere as the template, a layer of MoS 2 nanoflowers were anchored to PZS spheres via a hydrothermal strategy. The well-designed PZS@MoS 2 exhibits excellent fire retardancy and a reinforcing effect. The obtained PZS@MoS 2 significantly enhanced the flame-retardant performance of EP composites, which can be proved by thermogravimetric and cone calorimeter results. For instance, the incorporation of 3 wt % PZS@MoS 2 brought about a 41.3% maximum reduction in the peak heat-release rate and decreased by 30.3% maximum in the total heat release, accompanying the higher graphitized char layer. With regard to mechanical property, the storage modulus of EP/PZS@MoS 2 3.0 in the glassy state was dramatically increased to 22.4 GPa in comparison with that of pure EP (11.15 GPa). It is sensible to know that the improved flame-retardant performance for EP composites is primarily assigned to a physical barrier effect of the MoS 2 nanoflowers and the polyphosphazene structure has an positive impact on promoting char formation in the condensed phase.

  3. Load balancing prediction method of cloud storage based on analytic hierarchy process and hybrid hierarchical genetic algorithm.

    Science.gov (United States)

    Zhou, Xiuze; Lin, Fan; Yang, Lvqing; Nie, Jing; Tan, Qian; Zeng, Wenhua; Zhang, Nian

    2016-01-01

    With the continuous expansion of the cloud computing platform scale and rapid growth of users and applications, how to efficiently use system resources to improve the overall performance of cloud computing has become a crucial issue. To address this issue, this paper proposes a method that uses an analytic hierarchy process group decision (AHPGD) to evaluate the load state of server nodes. Training was carried out by using a hybrid hierarchical genetic algorithm (HHGA) for optimizing a radial basis function neural network (RBFNN). The AHPGD makes the aggregative indicator of virtual machines in cloud, and become input parameters of predicted RBFNN. Also, this paper proposes a new dynamic load balancing scheduling algorithm combined with a weighted round-robin algorithm, which uses the predictive periodical load value of nodes based on AHPPGD and RBFNN optimized by HHGA, then calculates the corresponding weight values of nodes and makes constant updates. Meanwhile, it keeps the advantages and avoids the shortcomings of static weighted round-robin algorithm.

  4. Flexible System Integration and Advanced Hierarchical Control Architectures in the Microgrid Research Laboratory of Aalborg University

    DEFF Research Database (Denmark)

    Meng, Lexuan; Hernández, Adriana Carolina Luna; Diaz, Enrique Rodriguez

    2016-01-01

    This paper presents the system integration and hierarchical control implementation in an inverter-based microgrid research laboratory (MGRL) in Aalborg University, Denmark. MGRL aims to provide a flexible experimental platform for comprehensive studies of microgrids. The structure of the laboratory...... system supervision, advanced secondary and tertiary management are realized in a microgrid central controller. The software and hardware schemes are described. Several example case studies are introduced and performed in order to achieve power quality regulation, energy management and flywheel energy...

  5. Activate distributed energy resources' services: Hierarchical voltage controller as an application

    OpenAIRE

    Han, Xue; Kosek, Anna Magdalena; Gehrke, Oliver; Bindner, Henrik W.; Kullmann, Daniel

    2014-01-01

    The flexibilities from controllable distributed energy resources (DERs) offer the opportunities to mitigate some of the operation problems in the power distribution grid. The provision of system services requires the aggregation and coordination of their flexibilities, in order to obtain the flexible capacity of large scale. In this paper, a hierarchical controller is presented to activate the aggregation, and tries to obtain a global optimum of the grid operation. A distribution grid with la...

  6. Surfactant-free hydrothermal synthesis of hierarchically structured spherical CuBi2O4 as negative electrodes for Li-ion hybrid capacitors.

    Science.gov (United States)

    Yuvaraj, Subramanian; Karthikeyan, Kaliyappan; Kalpana, Dharmalingam; Lee, Yun Sung; Selvan, Ramakrishnan Kalai

    2016-05-01

    Hierarchically structured spherical CuBi2O4 particles were prepared using a facile hydrothermal method without using a surfactant over various hydrothermal reaction periods. The prepared CuBi2O4 samples were examined via X-ray diffraction (XRD), which confirmed the formation of a tetragonal crystal structure. The morphological features were analyzed using field emission scanning electron microscopy (FESEM), which elucidated the construction of the hierarchical microspherical CuBi2O4 particles. The plausible growth mechanism of the hierarchical structure was explained in terms of a time-dependent synthesis process and its crystal structure. The uniform hierarchical CuBi2O4 microspheres were used to fabricate a Li-ion hybrid capacitor (Li-HC) along with activated carbon (AC), the generated device delivers a stable specific capacitance of 26.5 F g(-1) over 1500 cycles at a high current density of 1000 mA g(-1) and a capacity retention of ∼86%. The AC/CB2 Li-ion hybrid cell exhibits high energy density and power density values of 24 W h kg(-1) and 300 W kg(-1), respectively. Copyright © 2016 Elsevier Inc. All rights reserved.

  7. World Automata: a compositional approach to model implicit communication in hierarchical Hybrid Systems

    Directory of Open Access Journals (Sweden)

    Marta Capiluppi

    2013-08-01

    Full Text Available We propose an extension of Hybrid I/O Automata (HIOAs to model agent systems and their implicit communication through perturbation of the environment, like localization of objects or radio signals diffusion and detection. The new object, called World Automaton (WA, is built in such a way to preserve as much as possible of the compositional properties of HIOAs and its underlying theory. From the formal point of view we enrich classical HIOAs with a set of world variables whose values are functions both of time and space. World variables are treated similarly to local variables of HIOAs, except in parallel composition, where the perturbations produced by world variables are summed. In such way, we obtain a structure able to model both agents and environments, thus inducing a hierarchy in the model and leading to the introduction of a new operator. Indeed this operator, called inplacement, is needed to represent the possibility of an object (WA of living inside another object/environment (WA.

  8. Bioactive Hierarchical Structures for Genetic Control of Bone Morphogenesis

    Directory of Open Access Journals (Sweden)

    Pilar Sepulveda

    2002-09-01

    Full Text Available For thirty years it has been known that certain compositions of Na2O-CaO-P2O5-SiO 2 glasses will form a mechanically strong, chemical bond to bone. These materials have become known as bioactive glasses and the process of bonding is called bioactive fixation. Bioactive glasses are widely used clinically in the repair of bone defects. Recent research at the Imperial College Tissue Engineering Centre has now established that there is a genetic control of the cellular response to bioactive materials. Seven families of genes are up-regulated when primary human osteoblasts are exposed to the ionic dissolution products of bioactive glasses. The gene expression occurs very rapidly, within two days, and includes enhanced expression of cell cycle regulators. The consequence is rapid differentiation of the osteoblasts into a mature phenotype and formation of large three-dimensional bone nodules within six days in vitro. These cell culture results correlate with extensive human clinical results using the same bioactive material. The new genetic theory of bioactive materials provides a scientific foundation for molecular design of new generation of resorbable bioactive materials for tissue engineering and in situ tissue regeneration and repair. Application of this theory to the synthesis of bioactive foams for tissue engineering of bone is described.

  9. Multi-objective decoupling algorithm for active distance control of intelligent hybrid electric vehicle

    Science.gov (United States)

    Luo, Yugong; Chen, Tao; Li, Keqiang

    2015-12-01

    The paper presents a novel active distance control strategy for intelligent hybrid electric vehicles (IHEV) with the purpose of guaranteeing an optimal performance in view of the driving functions, optimum safety, fuel economy and ride comfort. Considering the complexity of driving situations, the objects of safety and ride comfort are decoupled from that of fuel economy, and a hierarchical control architecture is adopted to improve the real-time performance and the adaptability. The hierarchical control structure consists of four layers: active distance control object determination, comprehensive driving and braking torque calculation, comprehensive torque distribution and torque coordination. The safety distance control and the emergency stop algorithms are designed to achieve the safety and ride comfort goals. The optimal rule-based energy management algorithm of the hybrid electric system is developed to improve the fuel economy. The torque coordination control strategy is proposed to regulate engine torque, motor torque and hydraulic braking torque to improve the ride comfort. This strategy is verified by simulation and experiment using a forward simulation platform and a prototype vehicle. The results show that the novel control strategy can achieve the integrated and coordinated control of its multiple subsystems, which guarantees top performance of the driving functions and optimum safety, fuel economy and ride comfort.

  10. Hierarchical model-based predictive control of a power plant portfolio

    DEFF Research Database (Denmark)

    Edlund, Kristian; Bendtsen, Jan Dimon; Jørgensen, John Bagterp

    2011-01-01

    One of the main difficulties in large-scale implementation of renewable energy in existing power systems is that the production from renewable sources is difficult to predict and control. For this reason, fast and efficient control of controllable power producing units – so-called “portfolio...... control” – becomes increasingly important as the ratio of renewable energy in a power system grows. As a consequence, tomorrow's “smart grids” require highly flexible and scalable control systems compared to conventional power systems. This paper proposes a hierarchical model-based predictive control...

  11. Naturalizing sense of agency with a hierarchical event-control approach.

    Directory of Open Access Journals (Sweden)

    Devpriya Kumar

    Full Text Available Unraveling the mechanisms underlying self and agency has been a difficult scientific problem. We argue for an event-control approach for naturalizing the sense of agency by focusing on the role of perception-action regularities present at different hierarchical levels and contributing to the sense of self as an agent. The amount of control at different levels of the control hierarchy determines the sense of agency. The current study investigates this approach in a set of two experiments using a scenario containing multiple agents sharing a common goal where one of the agents is partially controlled by the participant. The participant competed with other agents for achieving the goal and subsequently answered questions on identification (which agent was controlled by the participant, the degree to which they are confident about their identification (sense of identification and the degree to which the participant believed he/she had control over his/her actions (sense of authorship. Results indicate a hierarchical relationship between goal-level control (higher level and perceptual-motor control (lower level for sense of agency. Sense of identification ratings increased with perceptual-motor control when the goal was not completed but did not vary with perceptual-motor control when the goal was completed. Sense of authorship showed a similar interaction effect only in experiment 2 that had only one competing agent unlike the larger number of competing agents in experiment 1. The effect of hierarchical control can also be seen in the misidentification pattern and misidentification was greater with the agent affording greater control. Results from the two studies support the event-control approach in understanding sense of agency as grounded in control. The study also offers a novel paradigm for empirically studying sense of agency and self.

  12. A Wireless Power Sharing Control Strategy for Hybrid Energy Storage Systems in DC Microgrids

    DEFF Research Database (Denmark)

    Yang, Jie; Jin, Xinmin; Wu, Xuezhi

    2017-01-01

    energy density storage unit and power density storage unit in reasonable fashion. Primary control introduces change rate of voltage as virtual information carrier, and urges supercapacitor unit to pick up major dynamic power immediately in the load switching moment, by setting sensitivity of different......In order to compensate multiple time scales power fluctuation resulted from distributed energy resources and loads, hybrid energy storage systems are employed as the buffer unit in DC microgrid. In this paper, a wireless hierarchical control strategy is proposed to realize power sharing between...

  13. Integrated control of active suspension system and electronic stability programme using hierarchical control strategy: theory and experiment

    Science.gov (United States)

    Xiao, Hansong; Chen, Wuwei; Zhou, HuiHui; Zu, Jean W.

    2011-02-01

    Integrated vehicle dynamics control has been an important research topic in the area of vehicle dynamics and control over the past two decades. The aim of integrated vehicle control is to improve the overall vehicle performance including handling, stability, and comfort through creating synergies in the use of sensor information, hardware, and control strategies. This paper proposes a two-layer hierarchical control architecture for integrated control of the active suspension system (ASS) and the electronic stability programme (ESP). The upper-layer controller is designed to coordinate the interactions between the ASS and the ESP. While in the lower layer, the two controllers including the ASS and the ESP are developed independently to achieve their local control objectives. Both a simulation investigation and a hardware-in-the-loop experimental study are performed. Simulation results demonstrate that the proposed hierarchical control system is able to improve the multiple vehicle performance indices including both the ride comfort and the lateral stability, compared with the non-integrated control system. Moreover, the experimental results verify the effectiveness of the design of the hierarchical control system.

  14. Hierarchical Shared Control of Cane-Type Walking-Aid Robot

    Directory of Open Access Journals (Sweden)

    Chunjing Tao

    2017-01-01

    Full Text Available A hierarchical shared-control method of the walking-aid robot for both human motion intention recognition and the obstacle emergency-avoidance method based on artificial potential field (APF is proposed in this paper. The human motion intention is obtained from the interaction force measurements of the sensory system composed of 4 force-sensing registers (FSR and a torque sensor. Meanwhile, a laser-range finder (LRF forward is applied to detect the obstacles and try to guide the operator based on the repulsion force calculated by artificial potential field. An obstacle emergency-avoidance method which comprises different control strategies is also assumed according to the different states of obstacles or emergency cases. To ensure the user’s safety, the hierarchical shared-control method combines the intention recognition method with the obstacle emergency-avoidance method based on the distance between the walking-aid robot and the obstacles. At last, experiments validate the effectiveness of the proposed hierarchical shared-control method.

  15. Hierarchical Shared Control of Cane-Type Walking-Aid Robot.

    Science.gov (United States)

    Tao, Chunjing; Yan, Qingyang; Li, Yitong

    2017-01-01

    A hierarchical shared-control method of the walking-aid robot for both human motion intention recognition and the obstacle emergency-avoidance method based on artificial potential field (APF) is proposed in this paper. The human motion intention is obtained from the interaction force measurements of the sensory system composed of 4 force-sensing registers (FSR) and a torque sensor. Meanwhile, a laser-range finder (LRF) forward is applied to detect the obstacles and try to guide the operator based on the repulsion force calculated by artificial potential field. An obstacle emergency-avoidance method which comprises different control strategies is also assumed according to the different states of obstacles or emergency cases. To ensure the user's safety, the hierarchical shared-control method combines the intention recognition method with the obstacle emergency-avoidance method based on the distance between the walking-aid robot and the obstacles. At last, experiments validate the effectiveness of the proposed hierarchical shared-control method.

  16. Hierarchical Shared Control of Cane-Type Walking-Aid Robot

    Science.gov (United States)

    Tao, Chunjing

    2017-01-01

    A hierarchical shared-control method of the walking-aid robot for both human motion intention recognition and the obstacle emergency-avoidance method based on artificial potential field (APF) is proposed in this paper. The human motion intention is obtained from the interaction force measurements of the sensory system composed of 4 force-sensing registers (FSR) and a torque sensor. Meanwhile, a laser-range finder (LRF) forward is applied to detect the obstacles and try to guide the operator based on the repulsion force calculated by artificial potential field. An obstacle emergency-avoidance method which comprises different control strategies is also assumed according to the different states of obstacles or emergency cases. To ensure the user's safety, the hierarchical shared-control method combines the intention recognition method with the obstacle emergency-avoidance method based on the distance between the walking-aid robot and the obstacles. At last, experiments validate the effectiveness of the proposed hierarchical shared-control method. PMID:29093805

  17. A new experimental ground vehicle with hybrid control and hybrid vision sensor

    Directory of Open Access Journals (Sweden)

    J. M. Rendón-Mancha

    2010-12-01

    Full Text Available This paper presents a new hybrid control algorithm based on saturation functions and its real-time application to aground vehicle. The hybrid control is developed from a nonlinear continuous control law and the objective is to obtainthe optimal sampling period

  18. Hybrid systems, optimal control and hybrid vehicles theory, methods and applications

    CERN Document Server

    Böhme, Thomas J

    2017-01-01

    This book assembles new methods showing the automotive engineer for the first time how hybrid vehicle configurations can be modeled as systems with discrete and continuous controls. These hybrid systems describe naturally and compactly the networks of embedded systems which use elements such as integrators, hysteresis, state-machines and logical rules to describe the evolution of continuous and discrete dynamics and arise inevitably when modeling hybrid electric vehicles. They can throw light on systems which may otherwise be too complex or recondite. Hybrid Systems, Optimal Control and Hybrid Vehicles shows the reader how to formulate and solve control problems which satisfy multiple objectives which may be arbitrary and complex with contradictory influences on fuel consumption, emissions and drivability. The text introduces industrial engineers, postgraduates and researchers to the theory of hybrid optimal control problems. A series of novel algorithmic developments provides tools for solving engineering pr...

  19. A Hybrid Hierarchical Approach for Brain Tissue Segmentation by Combining Brain Atlas and Least Square Support Vector Machine

    Science.gov (United States)

    Kasiri, Keyvan; Kazemi, Kamran; Dehghani, Mohammad Javad; Helfroush, Mohammad Sadegh

    2013-01-01

    In this paper, we present a new semi-automatic brain tissue segmentation method based on a hybrid hierarchical approach that combines a brain atlas as a priori information and a least-square support vector machine (LS-SVM). The method consists of three steps. In the first two steps, the skull is removed and the cerebrospinal fluid (CSF) is extracted. These two steps are performed using the toolbox FMRIB's automated segmentation tool integrated in the FSL software (FSL-FAST) developed in Oxford Centre for functional MRI of the brain (FMRIB). Then, in the third step, the LS-SVM is used to segment grey matter (GM) and white matter (WM). The training samples for LS-SVM are selected from the registered brain atlas. The voxel intensities and spatial positions are selected as the two feature groups for training and test. SVM as a powerful discriminator is able to handle nonlinear classification problems; however, it cannot provide posterior probability. Thus, we use a sigmoid function to map the SVM output into probabilities. The proposed method is used to segment CSF, GM and WM from the simulated magnetic resonance imaging (MRI) using Brainweb MRI simulator and real data provided by Internet Brain Segmentation Repository. The semi-automatically segmented brain tissues were evaluated by comparing to the corresponding ground truth. The Dice and Jaccard similarity coefficients, sensitivity and specificity were calculated for the quantitative validation of the results. The quantitative results show that the proposed method segments brain tissues accurately with respect to corresponding ground truth. PMID:24696800

  20. Distributed hierarchical control architecture for integrating smart grid assets during normal and disrupted operations

    Science.gov (United States)

    Kalsi, Karan; Fuller, Jason C.; Somani, Abhishek; Pratt, Robert G.; Chassin, David P.; Hammerstrom, Donald J.

    2017-09-12

    Disclosed herein are representative embodiments of methods, apparatus, and systems for facilitating operation and control of a resource distribution system (such as a power grid). Among the disclosed embodiments is a distributed hierarchical control architecture (DHCA) that enables smart grid assets to effectively contribute to grid operations in a controllable manner, while helping to ensure system stability and equitably rewarding their contribution. Embodiments of the disclosed architecture can help unify the dispatch of these resources to provide both market-based and balancing services.

  1. Interplay of Internal Structure and Interfaces on the Emitting Properties of Hybrid ZnO Hierarchical Particles.

    Science.gov (United States)

    Distaso, Monica; Bertoni, Giovanni; Todisco, Stefano; Marras, Sergio; Gallo, Vito; Manna, Liberato; Peukert, Wolfgang

    2017-05-03

    The design of hybrid organic/inorganic nanostructures with controlled assembly drives the development of materials with new or improved properties and superior performances. In this paper, the surface and internal structure of hybrid ZnO poly-N-vinylpyrrolidone (ZnO/PVP) mesocrystals are investigated in detail and correlated with their emitting properties. A photoluminescence study at room temperature reveals that the as-synthesized particles show a remarkable ultraviolet (UV) emission, whereas an emission from defects in the visible region is not observed. On the other hand, a visible emission is achieved upon calcination of the hybrid ZnO/PVP particles in air, and its intensity is found to increase with the calcination temperature and, in some cases, to overwhelm the UV emission. A molecular description is proposed for the absence of a visible emission from defects in the as-synthesized ZnO/PVP mesocrystals on the basis of Fourier transform infrared (FTIR) and solid-state 13C NMR (SSNMR) spectroscopy. An in-depth electron microscopy study sheds light on the internal organization of mesocrystals and reveals the formation of nanoreactors, that is, particles with enclosed porosity, upon thermal treatment.

  2. Hybrid scatterometry measurement for BEOL process control

    Science.gov (United States)

    Timoney, Padraig; Vaid, Alok; Kang, Byeong Cheol; Liu, Haibo; Isbester, Paul; Cheng, Marjorie; Ng-Emans, Susan; Yellai, Naren; Sendelbach, Matt; Koret, Roy; Gedalia, Oram

    2017-03-01

    Scaling of interconnect design rules in advanced nodes has been accompanied by a reducing metrology budget for BEOL process control. Traditional inline optical metrology measurements of BEOL processes rely on 1-dimensional (1D) film pads to characterize film thickness. Such pads are designed on the assumption that solid copper blocks from previous metallization layers prevent any light from penetrating through the copper, thus simplifying the effective film stack for the 1D optical model. However, the reduction of the copper thickness in each metallization layer and CMP dishing effects within the pad, have introduced undesired noise in the measurement. To resolve this challenge and to measure structures that are more representative of product, scatterometry has been proposed as an alternative measurement. Scatterometry is a diffraction based optical measurement technique using Rigorous Coupled Wave Analysis (RCWA), where light diffracted from a periodic structure is used to characterize the profile. Scatterometry measurements on 3D structures have been shown to demonstrate strong correlation to electrical resistance parameters for BEOL Etch and CMP processes. However, there is significant modeling complexity in such 3D scatterometry models, in particlar due to complexity of front-end-of-line (FEOL) and middle-of-line (MOL) structures. The accompanying measurement noise associated with such structures can contribute significant measurement error. To address the measurement noise of the 3D structures and the impact of incoming process variation, a hybrid scatterometry technique is proposed that utilizes key information from the structure to significantly reduce the measurement uncertainty of the scatterometry measurement. Hybrid metrology combines measurements from two or more metrology techniques to enable or improve the measurement of a critical parameter. In this work, the hybrid scatterometry technique is evaluated for 7nm and 14nm node BEOL measurements of

  3. A Virtual Synchronous Generator Based Hierarchical Control Scheme of Distributed Generation Systems

    Directory of Open Access Journals (Sweden)

    Gang Yao

    2017-12-01

    Full Text Available Sustainable energy-based generation systems, such as photovoltaic and wind turbine generation systems, normally adopt inverters to connect to the grid. These power electronic interfaces possess the characteristics of small inertia and small output impedance, which create difficulties to stabilize the voltage and frequency of a distributed power source. To deal with this problem, a Virtual Synchronous Generator (VSG-based inverter control method is presented in this paper by introducing virtual inertia and damping coefficient into the control loop to emulate the dynamic behavior of a traditional synchronous generator. Based on this VSG control method, a three-layer hierarchical control scheme is further proposed to increase the control accuracy of the voltage and frequency in a VSG-based distributed generation system with parallel inverters. The principle of the VSG control method, the system stability analysis, the design process of the hierarchical control structure, and the frequency/voltage secondary regulation processes are all specified in this paper. Finally, some numerical simulations are carried out and the effectiveness of proposed control scheme is verified by the simulation results analysis.

  4. Controlled Synthesis and Magnetic Properties of Uniform Hierarchical Polyhedral α-Fe2O3 Particles

    Science.gov (United States)

    Long, Nguyen Viet; Yang, Yong; Thi, Cao Minh; Phuc, Le Hong; Nogami, Masayuki

    2017-06-01

    The controlled synthesis of uniform hierarchical polyhedral iron (Fe) micro-/nanoscale oxide particles with the α-Fe2O3 structure is presented. The hierarchical polyhedral iron oxide particles were synthesized by modified polyol methods with sodium borohydride as a powerful and efficient reducing agent. A critical heat treatment process used during the synthesis allowed for the interesting formation of α-Fe2O3 hematite with a micro-/nanoscale structure. The structure and weak ferromagnetism of the α-Fe2O3 particles were investigated by x-ray diffraction with whole pattern fitting and Rietveld refinement, scanning electron microscopy, and by vibrating sample magnetometry. The as-prepared α-Fe2O3 particles and the three dimensional models presented have promising practical applications for energy storage and conversion in batteries, capacitors, and fuel cells, and related spintronic devices and technologies.

  5. Flat tie-line power scheduling control of grid-connected hybrid microgrids

    DEFF Research Database (Denmark)

    Xiao, Zhao xia; Guerrero, Josep M.; Shuang, Jia

    2018-01-01

    In future active distribution networks (ADNs), microgrids (MGs) may have the possibility to control the power dispatched to the ADN by coordinating the output power of their multiple renewable generation units and energy storage units (ESUs). In this way, each MG may support the active distribution....... Also, a method to calculate the tie-line power flow to be exchanged between the MG and the ADN is explored, and a power ramp rate is given between different dispatch intervals. Finally, a simulation model of the hybrid MG is built and tested. Simulation results show that the proposed hierarchical...

  6. Flat tie-line power scheduling control of grid-connected hybrid microgrids

    DEFF Research Database (Denmark)

    Xiao, Zhao xia; Guerrero, Josep M.; Shuang, Jia

    2017-01-01

    In future active distribution networks (ADNs), microgrids (MGs) may have the possibility to control the power dispatched to the ADN by coordinating the output power of their multiple renewable generation units and energy storage units (ESUs). In this way, each MG may support the active distribution....... Also, a method to calculate the tie-line power flow to be exchanged between the MG and the ADN is explored, and a power ramp rate is given between different dispatch intervals. Finally, a simulation model of the hybrid MG is built and tested. Simulation results show that the proposed hierarchical...

  7. Hierarchical Control Strategy for the Cooperative Braking System of Electric Vehicle

    Directory of Open Access Journals (Sweden)

    Jiankun Peng

    2015-01-01

    Full Text Available This paper provides a hierarchical control strategy for cooperative braking system of an electric vehicle with separated driven axles. Two layers are defined: the top layer is used to optimize the braking stability based on two sliding mode control strategies, namely, the interaxle control mode and signal-axle control strategies; the interaxle control strategy generates the ideal braking force distribution in general braking condition, and the single-axle control strategy can ensure braking safety in emergency braking condition; the bottom layer is used to maximize the regenerative braking energy recovery efficiency with a reallocated braking torque strategy; the reallocated braking torque strategy can recovery braking energy as much as possible in the premise of meeting battery charging power. The simulation results show that the proposed hierarchical control strategy is reasonable and can adapt to different typical road surfaces and load cases; the vehicle braking stability and safety can be guaranteed; furthermore, the regenerative braking energy recovery efficiency can be improved.

  8. Hierarchical Control Strategy for the Cooperative Braking System of Electric Vehicle

    Science.gov (United States)

    Peng, Jiankun; He, Hongwen; Guo, Hongqiang

    2015-01-01

    This paper provides a hierarchical control strategy for cooperative braking system of an electric vehicle with separated driven axles. Two layers are defined: the top layer is used to optimize the braking stability based on two sliding mode control strategies, namely, the interaxle control mode and signal-axle control strategies; the interaxle control strategy generates the ideal braking force distribution in general braking condition, and the single-axle control strategy can ensure braking safety in emergency braking condition; the bottom layer is used to maximize the regenerative braking energy recovery efficiency with a reallocated braking torque strategy; the reallocated braking torque strategy can recovery braking energy as much as possible in the premise of meeting battery charging power. The simulation results show that the proposed hierarchical control strategy is reasonable and can adapt to different typical road surfaces and load cases; the vehicle braking stability and safety can be guaranteed; furthermore, the regenerative braking energy recovery efficiency can be improved. PMID:26236772

  9. An enhanced hierarchical control strategy for the Internet of Things-based home scale microgrid

    DEFF Research Database (Denmark)

    Guan, Yajuan; Quintero, Juan Carlos Vasquez; Guerrero, Josep M.

    2017-01-01

    As the intelligent control and detection technology improving, more and more smart devices/sensors can be used to increase the living standard. In order to integrate the Internet of Things (IoT) with microgrid (MG), an enhanced hierarchical control strategy for IoT-based home scale MG is proposed...... in this paper. Physical smart devices/sensors and inverters are defined at the primary level. Electrical and environmental variables deviation restoration loops are adopted at the secondary level. Power flow management and optimization algorithms with different objectives are deployed at the tertiary level...

  10. Controlled Synthesis and Ferrimagnetism of Homogeneous Hierarchical CoFe2O4 Particles

    Science.gov (United States)

    Long, Nguyen Viet; Yang, Yong; Thi, Cao Minh; Phuc, Le Hong; Lu, Le Trong; Nogami, Masayuki

    2017-10-01

    Uniform, large, spherical, hierarchical CoFe2O4 spinel particles have been successfully prepared by a modified polyol method using NaBH4 and NaOH, revealing controlled size, shape, and morphology with high crystallinity in a certain microscale range. Their inverse AB2O4-type crystal structure was intensively studied by x-ray diffraction (XRD) analysis and scanning electron microscopy (SEM). Using stock solutions of CoCl2 and FeCl3 precursors in 1:2 ratio, CoFe2O4 particles were formed well with high crystallinity in the best inverse spinel structure in space group Fd-3m. The fascinating ferrimagnetic and hysteretic properties of the as-prepared hierarchical CoFe2O4 spinel particles were investigated by vibrating-sample magnetometry (VSM) at room temperature (RT). The results confirm formation of hierarchical CoFe2O4 microscale particles with inverse-spinel AB2O4-type structure and high magnetization by modified polyol method with heat treatment.

  11. Multiple-Time-Scales Hierarchical Frequency Stability Control Strategy of Medium-Voltage Isolated Microgrid

    DEFF Research Database (Denmark)

    Zhao, Zhuoli; Yang, Ping; Guerrero, Josep M.

    2016-01-01

    In this paper, an islanded medium-voltage (MV) microgrid placed in Dongao Island is presented, which integrates renewable-energy-based distributed generations (DGs), energy storage system (ESS), and local loads. In an isolated microgrid without connection to the main grid to support the frequency......, it is more complex to control and manage. Thus in order to maintain the frequency stability in multiple-time-scales, a hierarchical control strategy is proposed. The proposed control architecture divides the system frequency in three zones: (A) stable zone, (B) precautionary zone and (C) emergency zone....... In this way, dynamic stability control that cope with disturbances in short-time scale is implemented by microgrid central controller (MGCC) within Zone B and Zone C. Meanwhile, steady-state stability control to solve the peaks and valleys problem of loads and DGs in long-time scale is executed by microgrid...

  12. Comments On Clock Models In Hybrid Automata And Hybrid Control Systems

    OpenAIRE

    Oltean, Virginia Ecaterina; Carstoiu, Dorin

    2001-01-01

    Hybrid systems have received a lot of attention in the past decade and a number of different models have been proposed in order to establish mathematical framework that is able to handle both continuous and discrete aspects. This contribution is focused on two models: hybrid automata and hybrid control systems with continuous-discrete interface and the importance of clock models is emphasized. Simple and relevant examples, some taken from the literature, accompany the presentation.

  13. Chromosomal Regions in Prostatic Carcinomas Studied by Comparative Genomic Hybridization, Hierarchical Cluster Analysis and Self-Organizing Feature Maps

    Directory of Open Access Journals (Sweden)

    Torsten Mattfeldt

    2002-01-01

    Full Text Available Comparative genomic hybridization (CGH is an established genetic method which enables a genome‐wide survey of chromosomal imbalances. For each chromosome region, one obtains the information whether there is a loss or gain of genetic material, or whether there is no change at that place. Therefore, large amounts of data quickly accumulate which must be put into a logical order. Cluster analysis can be used to assign individual cases (samples to different clusters of cases, which are similar and where each cluster may be related to a different tumour biology. Another approach consists in a clustering of chromosomal regions by rewriting the original data matrix, where the cases are written as rows and the chromosomal regions as columns, in a transposed form. In this paper we applied hierarchical cluster analysis as well as two implementations of self‐organizing feature maps as classical and neuronal tools for cluster analysis of CGH data from prostatic carcinomas to such transposed data sets. Self‐organizing maps are artificial neural networks with the capability to form clusters on the basis of an unsupervised learning rule. We studied a group of 48 cases of incidental carcinomas, a tumour category which has not been evaluated by CGH before. In addition we studied a group of 50 cases of pT2N0‐tumours and a group of 20 pT3N0‐carcinomas. The results show in all case groups three clusters of chromosomal regions, which are (i normal or minimally affected by losses and gains, (ii regions with many losses and few gains and (iii regions with many gains and few losses. Moreover, for the pT2N0‐ and pT3N0‐groups, it could be shown that the regions 6q, 8p and 13q lay all on the same cluster (associated with losses, and that the regions 9q and 20q belonged to the same cluster (associated with gains. For the incidental cancers such clear correlations could not be demonstrated.

  14. A multi-mode operation control strategy for flexible microgrid based on sliding-mode direct voltage and hierarchical controls.

    Science.gov (United States)

    Zhang, Qinjin; Liu, Yancheng; Zhao, Youtao; Wang, Ning

    2016-03-01

    Multi-mode operation and transient stability are two problems that significantly affect flexible microgrid (MG). This paper proposes a multi-mode operation control strategy for flexible MG based on a three-layer hierarchical structure. The proposed structure is composed of autonomous, cooperative, and scheduling controllers. Autonomous controller is utilized to control the performance of the single micro-source inverter. An adaptive sliding-mode direct voltage loop and an improved droop power loop based on virtual negative impedance are presented respectively to enhance the system disturbance-rejection performance and the power sharing accuracy. Cooperative controller, which is composed of secondary voltage/frequency control and phase synchronization control, is designed to eliminate the voltage/frequency deviations produced by the autonomous controller and prepare for grid connection. Scheduling controller manages the power flow between the MG and the grid. The MG with the improved hierarchical control scheme can achieve seamless transitions from islanded to grid-connected mode and have a good transient performance. In addition the presented work can also optimize the power quality issues and improve the load power sharing accuracy between parallel VSIs. Finally, the transient performance and effectiveness of the proposed control scheme are evaluated by theoretical analysis and simulation results. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  15. Hierarchical CBR for Multiple Aircraft Conflict Resolution in Air Traffic Control

    OpenAIRE

    Bonzano, Andrea; Cunningham, Padraig

    1998-01-01

    This is a preprint of an article published in Proceedings of 13th European Conference on Artificial Intelligence, ed. Henri Prade, John Wile, pp58-62, August 1998. In this paper we present a Case-Based Reasoning system that helps air traffic controllers to solve aircraft conflicts. In particular, we focus on the hierarchical aspect of the CBR system which is able to solve multiple aircraft conflicts, i.e. conflicts that involve three or more aircraft. It is not practical to bui...

  16. Mesochanneled hierarchically porous aluminosiloxane aerogel microspheres as a stable support for pH-responsive controlled drug release.

    Science.gov (United States)

    Vazhayal, Linsha; Talasila, Sindhoor; Abdul Azeez, Peer Mohamed; Solaiappan, Ananthakumar

    2014-09-10

    The molecular-scale self-assembly of a 3D aluminosiloxane (Al-O-Si) hybrid gel network was successfully performed via the cocondensation of hydrolyzed alumina (AlOOH) and (3-aminopropyl)trimethoxysilane (APS). It was transformed into a microspherical aerogel framework of Al-O-Si containing mesochannels with tunable hierarchically bimodal meso/macroporosities by a subcritical drying technique. Good homogeneity of AlOOH and APS brought during the synthesis guaranteed a uniform distribution of two metal oxides in a single body. A systematic characterization of the aerogel support was carried out using FTIR, SEM, TEM, nitrogen adsorption/desorption analysis, WAXS, SAXS, and ξ-potential measurement in order to explore the material for drug uptake and release. The drug loading and release capacity and chemical stability of an aluminosiloxane aerogel were studied using two nonsteroidal antiinflammatory drugs, ibuprofen and aspirin. A comprehensive evaluation of the aluminosiloxane aerogel with ordered mesoporous MCM-41 was also performed. Aerogel supports showed a high drug loading capacity and a pH-responsive controlled-release property compared to MCM-41. Meanwhile, kinetic modeling studies indicate that the drug releases with a zero-order profile following the Korsmeyer-Peppas model. The biocompatibility of aluminosiloxane aerogels was established via ex vivo and in vivo studies. We also outline the use of aluminosiloxane aerogel as a support for a possible 3D matrix for an osteoconductive structure for bone tissue engineering.

  17. Resilient control of cyber-physical systems against intelligent attacker: a hierarchal stackelberg game approach

    Science.gov (United States)

    Yuan, Yuan; Sun, Fuchun; Liu, Huaping

    2016-07-01

    This paper is concerned with the resilient control under denial-of-service attack launched by the intelligent attacker. The resilient control system is modelled as a multi-stage hierarchical game with a corresponding hierarchy of decisions made at cyber and physical layer, respectively. Specifically, the interaction in the cyber layer between different security agents is modelled as a static infinite Stackelberg game, while in the underlying physical layer the full-information H∞ minimax control with package drops is modelled as a different Stackelberg game. Both games are solved sequentially, which is consistent with the actual situations. Finally, the proposed method is applied to the load frequency control of the power system, which demonstrates its effectiveness.

  18. Hierarchical flight control system synthesis for rotorcraft-based unmanned aerial vehicles

    Science.gov (United States)

    Shim, Hyunchul

    The Berkeley Unmanned Aerial Vehicle (UAV) research aims to design, implement, and analyze a group of autonomous intelligent UAVs and UGVs (Unmanned Ground Vehicles). The goal of this dissertation is to provide a comprehensive procedural methodology to design, implement, and test rotorcraft-based unmanned aerial vehicles (RUAVs). We choose the rotorcraft as the base platform for our aerial agents because it offers ideal maneuverability for our target scenarios such as the pursuit-evasion game. Aided by many enabling technologies such as lightweight and powerful computers, high-accuracy navigation sensors and communication devices, it is now possible to construct RUAVs capable of precise navigation and intelligent behavior by the decentralized onboard control system. Building a fully functioning RUAV requires a deep understanding of aeronautics, control theory and computer science as well as a tremendous effort for implementation. These two aspects are often inseparable and therefore equally highlighted throughout this research. The problem of multiple vehicle coordination is approached through the notion of a hierarchical system. The idea behind the proposed architecture is to build a hierarchical multiple-layer system that gradually decomposes the abstract mission objectives into the physical quantities of control input. Each RUAV incorporated into this system performs the given tasks and reports the results through the hierarchical communication channel back to the higher-level coordinator. In our research, we provide a theoretical and practical approach to build a number of RUAVs based on commercially available navigation sensors, computer systems, and radio-controlled helicopters. For the controller design, the dynamic model of the helicopter is first built. The helicopter exhibits a very complicated multi-input multi-output, nonlinear, time-varying and coupled dynamics, which is exposed to severe exogenous disturbances. This poses considerable difficulties for

  19. Hybrid Energy Cell with Hierarchical Nano/Micro-Architectured Polymer Film to Harvest Mechanical, Solar, and Wind Energies Individually/Simultaneously.

    Science.gov (United States)

    Dudem, Bhaskar; Ko, Yeong Hwan; Leem, Jung Woo; Lim, Joo Ho; Yu, Jae Su

    2016-11-09

    We report the creation of hybrid energy cells based on hierarchical nano/micro-architectured polydimethylsiloxane (HNMA-PDMS) films with multifunctionality to simultaneously harvest mechanical, solar, and wind energies. These films consist of nano/micro dual-scale architectures (i.e., nanonipples on inverted micropyramidal arrays) on the PDMS surface. The HNMA-PDMS is replicable by facile and cost-effective soft imprint lithography using a nanoporous anodic alumina oxide film formed on the micropyramidal-structured silicon substrate. The HNMA-PDMS film plays multifunctional roles as a triboelectric layer in nanogenerators and an antireflection layer for dye-sensitized solar cells (DSSCs), as well as a self-cleaning surface. This film is employed in triboelectric nanogenerator (TENG) devices, fabricated by laminating it on indium-tin oxide-coated polyethylene terephthalate (ITO/PET) as a bottom electrode. The large effective contact area that emerged from the densely packed hierarchical nano/micro-architectures of the PDMS film leads to the enhancement of TENG device performance. Moreover, the HNMA-PDMS/ITO/PET, with a high transmittance of >90%, also results in highly transparent TENG devices. By placing the HNMA-PDMS/ITO/PET, where the ITO/PET is coated with zinc oxide nanowires, as the top glass substrate of DSSCs, the device is able to add the functionality of TENG devices, thus creating a hybrid energy cell. The hybrid energy cell can successfully convert mechanical, solar, and wind energies into electricity, simultaneously or independently. To specify the device performance, the effects of external pushing frequency and load resistance on the output of TENG devices are also analyzed, including the photovoltaic performance of the hybrid energy cells.

  20. Hybrid Dislocated Control and General Hybrid Projective Dislocated Synchronization for Memristor Chaotic Oscillator System

    Directory of Open Access Journals (Sweden)

    Junwei Sun

    2014-01-01

    Full Text Available Some important dynamical properties of the memristor chaotic oscillator system have been studied in the paper. A novel hybrid dislocated control method and a general hybrid projective dislocated synchronization scheme have been realized for memristor chaotic oscillator system. The paper firstly presents hybrid dislocated control method for stabilizing chaos to the unstable equilibrium point. Based on the Lyapunov stability theorem, general hybrid projective dislocated synchronization has been studied for the drive memristor chaotic oscillator system and the same response memristor chaotic oscillator system. For the different dimensions, the memristor chaotic oscillator system and the other chaotic system have realized general hybrid projective dislocated synchronization. Numerical simulations are given to show the effectiveness of these methods.

  1. Review of hybrid laminar flow control systems

    Science.gov (United States)

    Krishnan, K. S. G.; Bertram, O.; Seibel, O.

    2017-08-01

    The aeronautic community always strived for fuel efficient aircraft and presently, the need for ecofriendly aircraft is even more, especially with the tremendous growth of air traffic and growing environmental concerns. Some of the important drivers for such interests include high fuel prices, less emissions requirements, need for more environment friendly aircraft to lessen the global warming effects. Hybrid laminar flow control (HLFC) technology is promising and offers possibility to achieve these goals. This technology was researched for decades for its application in transport aircraft, and it has achieved a new level of maturity towards integration and safety and maintenance aspects. This paper aims to give an overview of HLFC systems research and associated flight tests in the past years both in the US and in Europe. The review makes it possible to distinguish between the successful approaches and the less successful or outdated approaches in HLFC research. Furthermore, the technology status shall try to produce first estimations regarding the mass, power consumption and performance of HLFC systems as well as estimations regarding maintenance requirements and possible subsystem definitions.

  2. Hybrid supercapacitors for reversible control of magnetism.

    Science.gov (United States)

    Molinari, Alan; Leufke, Philipp M; Reitz, Christian; Dasgupta, Subho; Witte, Ralf; Kruk, Robert; Hahn, Horst

    2017-05-10

    Electric field tuning of magnetism is one of the most intensely pursued research topics of recent times aiming at the development of new-generation low-power spintronics and microelectronics. However, a reversible magnetoelectric effect with an on/off ratio suitable for easy and precise device operation is yet to be achieved. Here we propose a novel route to robustly tune magnetism via the charging/discharging processes of hybrid supercapacitors, which involve electrostatic (electric-double-layer capacitance) and electrochemical (pseudocapacitance) doping. We use both charging mechanisms-occurring at the La 0.74 Sr 0.26 MnO 3 /ionic liquid interface to control the balance between ferromagnetic and non-ferromagnetic phases of La 1-x Sr x MnO 3 to an unprecedented extent. A magnetic modulation of up to ≈33% is reached above room temperature when applying an external potential of only about 2.0 V. Our case study intends to draw attention to new, reversible physico-chemical phenomena in the rather unexplored area of magnetoelectric supercapacitors.

  3. An effective and secure key-management scheme for hierarchical access control in E-medicine system.

    Science.gov (United States)

    Odelu, Vanga; Das, Ashok Kumar; Goswami, Adrijit

    2013-04-01

    Recently several hierarchical access control schemes are proposed in the literature to provide security of e-medicine systems. However, most of them are either insecure against 'man-in-the-middle attack' or they require high storage and computational overheads. Wu and Chen proposed a key management method to solve dynamic access control problems in a user hierarchy based on hybrid cryptosystem. Though their scheme improves computational efficiency over Nikooghadam et al.'s approach, it suffers from large storage space for public parameters in public domain and computational inefficiency due to costly elliptic curve point multiplication. Recently, Nikooghadam and Zakerolhosseini showed that Wu-Chen's scheme is vulnerable to man-in-the-middle attack. In order to remedy this security weakness in Wu-Chen's scheme, they proposed a secure scheme which is again based on ECC (elliptic curve cryptography) and efficient one-way hash function. However, their scheme incurs huge computational cost for providing verification of public information in the public domain as their scheme uses ECC digital signature which is costly when compared to symmetric-key cryptosystem. In this paper, we propose an effective access control scheme in user hierarchy which is only based on symmetric-key cryptosystem and efficient one-way hash function. We show that our scheme reduces significantly the storage space for both public and private domains, and computational complexity when compared to Wu-Chen's scheme, Nikooghadam-Zakerolhosseini's scheme, and other related schemes. Through the informal and formal security analysis, we further show that our scheme is secure against different attacks and also man-in-the-middle attack. Moreover, dynamic access control problems in our scheme are also solved efficiently compared to other related schemes, making our scheme is much suitable for practical applications of e-medicine systems.

  4. Hierarchical control framework for integrated coordination between distributed energy resources and demand response

    Energy Technology Data Exchange (ETDEWEB)

    Wu, Di; Lian, Jianming; Sun, Yannan; Yang, Tao; Hansen, Jacob

    2017-09-01

    Demand response is representing a significant but largely untapped resource that can greatly enhance the flexibility and reliability of power systems. In this paper, a hierarchical control framework is proposed to facilitate the integrated coordination between distributed energy resources and demand response. The proposed framework consists of coordination and device layers. In the coordination layer, various resource aggregations are optimally coordinated in a distributed manner to achieve the system-level objectives. In the device layer, individual resources are controlled in real time to follow the optimal power generation or consumption dispatched from the coordination layer. For the purpose of practical applications, a method is presented to determine the utility functions of controllable loads by taking into account the real-time load dynamics and the preferences of individual customers. The effectiveness of the proposed framework is validated by detailed simulation studies.

  5. A conceptual modeling framework for discrete event simulation using hierarchical control structures.

    Science.gov (United States)

    Furian, N; O'Sullivan, M; Walker, C; Vössner, S; Neubacher, D

    2015-08-01

    Conceptual Modeling (CM) is a fundamental step in a simulation project. Nevertheless, it is only recently that structured approaches towards the definition and formulation of conceptual models have gained importance in the Discrete Event Simulation (DES) community. As a consequence, frameworks and guidelines for applying CM to DES have emerged and discussion of CM for DES is increasing. However, both the organization of model-components and the identification of behavior and system control from standard CM approaches have shortcomings that limit CM's applicability to DES. Therefore, we discuss the different aspects of previous CM frameworks and identify their limitations. Further, we present the Hierarchical Control Conceptual Modeling framework that pays more attention to the identification of a models' system behavior, control policies and dispatching routines and their structured representation within a conceptual model. The framework guides the user step-by-step through the modeling process and is illustrated by a worked example.

  6. Hierarchical Brokering with Feedback Control Framework in Mobile Device-Centric Clouds

    Directory of Open Access Journals (Sweden)

    Chao-Lieh Chen

    2016-01-01

    Full Text Available We propose a hierarchical brokering architecture (HiBA and Mobile Multicloud Networking (MMCN feedback control framework for mobile device-centric cloud (MDC2 computing. Exploiting the MMCN framework and RESTful web-based interconnection, each tier broker probes resource state of its federation for control and management. Real-time and seamless services were developed. Case studies including intrafederation energy-aware balancing based on fuzzy feedback control and higher tier load balancing are further demonstrated to show how HiBA with MMCN relieves the embedding of algorithms when developing services. Theoretical performance model and real-world experiments both show that an MDC2 based on HiBA features better quality in terms of resource availability and network latency if it federates devices with enough resources distributed in lower tier hierarchy. The proposed HiBA realizes a development platform for MDC2 computing which is a feasible solution to User-Centric Networks (UCNs.

  7. Morphologically tuned 3D/1D rutile TiO2 hierarchical hybrid microarchitectures engineered by one-step surfactant free hydrothermal method

    Science.gov (United States)

    Maria John, Maria Angelin Sinthiya; Ramamurthi, K.; Sethuraman, K.; Ramesh Babu, R.

    2017-05-01

    Present investigation reports on the surfactant free hydrothermal synthesize of the morphologically tuned hierarchical hybrid rutile titanium oxide (TiO2) microarchitectures showing three dimensional microflower structures and cook pine tree like structures on the one dimensional nanorods formed over TiO2 seed layer coated glass substrates by tuning growth temperature. TiO2 seed layer of ∼100 nm thick was coated on the glass substrates employing sol-gel spin coating method and then rutile TiO2 microarchitectures were synthesized on the TiO2 seed layer by one-step surfactant free hydrothermal method. Deposited samples were characterized by X-ray diffraction, scanning electron microscopy, energy dispersive spectroscopy, UV-vis spectroscopy and photoluminescence spectroscopy techniques. Influence of the growth temperature on the crystallinity, morphology and optical properties along with the growth mechanism to achieve hierarchical microarchitectures was investigated. Present work revealed that the structural, morphological and optical properties of the TiO2 hierarchical microarchitectures strongly depend on the growth temperature. Further we proposed a model for the cause to effect possible morphological changes of rutile TiO2 microarchitectures as a function of growth temperatures on the TiO2 seeded glass substrates.

  8. Vehicle Hybrid Braking Control Using Sliding Mode Control

    Science.gov (United States)

    Kasahara, Misawa; Kanai, Yuki; Shiraki, Ryoko; Mori, Yasuchika

    Anti-lock brake system and brake-by-wire are proposed in the vehicle control using a brake, and the braking power is expected to be improved more than ever. The researches such as an application to the ABS of Siliding mode control which considered a actuator dynamics and a hybrid control of the brake using model reference adaptive control are done so far. However, in the former case, speed following that becomes a target exists physically impossible situation by saturation of tire frictional force because only speed following is done. In the latter, the model error is caused because the simulation model and the controller design model are different. Therefore, there is a problem that an accurate follow cannot be done. In this paper, the braking control is performed using the sliding mode control which has high robustness for disturbance that fulfils matching conditions. In so doing, it aims at the achievement of optimal braking control to switch wheel speed following to slip ratio following.

  9. Control system for a hybrid powertrain system

    Energy Technology Data Exchange (ETDEWEB)

    Naqvi, Ali K.; Demirovic, Besim; Gupta, Pinaki; Kaminsky, Lawrence A.

    2014-09-09

    A vehicle includes a powertrain with an engine, first and second torque machines, and a hybrid transmission. A method for operating the vehicle includes operating the engine in an unfueled state, releasing an off-going clutch which when engaged effects operation of the hybrid transmission in a first continuously variable mode, and applying a friction braking torque to a wheel of the vehicle to compensate for an increase in an output torque of the hybrid transmission resulting from releasing the off-going clutch. Subsequent to releasing the off-going clutch, an oncoming clutch which when engaged effects operation of the hybrid transmission in a second continuously variable mode is synchronized. Subsequent to synchronization of the oncoming clutch, the oncoming clutch is engaged.

  10. Predictive cruise control in hybrid electric vehicles

    NARCIS (Netherlands)

    Keulen, T. van; Naus, M.J.G.; Jager, B. de; Molengraft, G.J.L. van de; Steinbuch, M.; Aneke, N.P.I.

    2009-01-01

    Deceleration rates have considerable influence on the fuel economy of hybrid electric vehicles. Given the vehicle characteristics and actual/measured operating conditions, as well as upcoming route information, optimal velocity trajectories can be constructed that maximize energy recovery. To

  11. Hybrid vigor in the biological control agent, Longitarsus jacobaeae.

    Science.gov (United States)

    Szűcs, Marianna; Eigenbrode, Sanford D; Schwarzländer, Mark; Schaffner, Urs

    2012-07-01

    Hybridization is an important evolutionary mechanism that can increase the fitness and adaptive potential of populations. A growing body of evidence supports its importance as a key factor contributing to rapid evolution in invasive species, but the effects of hybridization have rarely been assessed in intentionally introduced biological control agents. We investigated hybrids between a Swiss and an Italian population of the beetle, Longitarsus jacobaeae, a biological control agent of Jacobaea vulgaris, by reciprocally crossing individuals in the laboratory. Phenological traits of F1 and F2 hybrid lineages showed intermediate values relative to their parental populations, with some maternal influence. Fitness of the F2 generation, measured as lifetime fecundity, was higher than that of the Italian parent in one of the lineages and higher than that of either parent in the other hybrid lineage. The increased fecundity of hybrids may benefit tansy ragwort biological control by increasing the establishment success and facilitating a more rapid population buildup in the early generations. Even though the long-term consequences of hybridization in this and other systems are hard to predict, intentional hybridization may be a useful tool in biological control strategies as it would promote similar microevolutionary processes operating in numerous targeted invasive species.

  12. Supermarket Refrigeration System - Benchmark for Hybrid System Control

    DEFF Research Database (Denmark)

    Sloth, Lars Finn; Izadi-Zamanabadi, Roozbeh; Wisniewski, Rafal

    2007-01-01

    This paper presents a supermarket refrigeration system as a benchmark for development of new ideas and a comparison of methods for hybrid systems' modeling and control. The benchmark features switch dynamics and discrete valued input making it a hybrid system, furthermore the outputs are subjected...

  13. CdS/CdSe Co-sensitized Solar Cells Based on Hierarchically Structured SnO2/TiO2 Hybrid Films.

    Science.gov (United States)

    Chen, Zeng; Wei, Chaochao; Li, Shengjun; Diao, Chunli; Li, Wei; Kong, Wenping; Zhang, Zhenlong; Zhang, Weifeng

    2016-12-01

    SnO2 nanosheet-structured films were prepared on a fluorine-doped tin oxide (FTO) substrate using ZnO nanosheet as template. The as-prepared SnO2 nanosheets contained plenty of nano-voids and were generally vertical to the substrate. TiO2 nanoparticles were homogeneously deposited into the intervals between the SnO2 nanosheets to prepare a hierarchically structured SnO2/TiO2 hybrid film. The hybrid films were co-sensitized with CdS and CdSe quantum dots. The sensitized solar cells assembled with the SnO2/TiO2 hybrid film showed much higher photoelectricity conversion efficiency than the cells assembled with pure TiO2 films. The lifetime of photoinduced electron was also investigated through electrochemical impedance spectroscopy, which showed that the SnO2/TiO2 hybrid film electrode is as long as the TiO2 film electrode.

  14. Synchronization of Hierarchical Time-Varying Neural Networks Based on Asynchronous and Intermittent Sampled-Data Control.

    Science.gov (United States)

    Xiong, Wenjun; Patel, Ragini; Cao, Jinde; Zheng, Wei Xing

    In this brief, our purpose is to apply asynchronous and intermittent sampled-data control methods to achieve the synchronization of hierarchical time-varying neural networks. The asynchronous and intermittent sampled-data controllers are proposed for two reasons: 1) the controllers may not transmit the control information simultaneously and 2) the controllers cannot always exist at any time . The synchronization is then discussed for a kind of hierarchical time-varying neural networks based on the asynchronous and intermittent sampled-data controllers. Finally, the simulation results are given to illustrate the usefulness of the developed criteria.In this brief, our purpose is to apply asynchronous and intermittent sampled-data control methods to achieve the synchronization of hierarchical time-varying neural networks. The asynchronous and intermittent sampled-data controllers are proposed for two reasons: 1) the controllers may not transmit the control information simultaneously and 2) the controllers cannot always exist at any time . The synchronization is then discussed for a kind of hierarchical time-varying neural networks based on the asynchronous and intermittent sampled-data controllers. Finally, the simulation results are given to illustrate the usefulness of the developed criteria.

  15. Hierarchical Control with Virtual Resistance Optimization for Efficiency Enhancement and State-of-Charge Balancing in DC Microgrids

    DEFF Research Database (Denmark)

    Meng, Lexuan; Dragicevic, Tomislav; Quintero, Juan Carlos Vasquez

    2015-01-01

    This paper proposes a hierarchical control scheme which applies optimization method into DC microgrids in order to improve the system overall efficiency while considering the State-of-Charge (SoC) balancing at the same time. Primary droop controller, secondary voltage restoration controller...

  16. A Hierarchical Z-Scheme α-Fe2 O3 /g-C3 N4 Hybrid for Enhanced Photocatalytic CO2 Reduction.

    Science.gov (United States)

    Jiang, Zhifeng; Wan, Weiming; Li, Huaming; Yuan, Shouqi; Zhao, Huijun; Wong, Po Keung

    2018-01-19

    The challenge in the artificial photosynthesis of fossil resources from CO2 by utilizing solar energy is to achieve stable photocatalysts with effective CO2 adsorption capacity and high charge-separation efficiency. A hierarchical direct Z-scheme system consisting of urchin-like hematite and carbon nitride provides an enhanced photocatalytic activity of reduction of CO2 to CO, yielding a CO evolution rate of 27.2 µmol g-1 h-1 without cocatalyst and sacrifice reagent, which is >2.2 times higher than that produced by g-C3 N4 alone (10.3 µmol g-1 h-1 ). The enhanced photocatalytic activity of the Z-scheme hybrid material can be ascribed to its unique characteristics to accelerate the reduction process, including: (i) 3D hierarchical structure of urchin-like hematite and preferable basic sites which promotes the CO2 adsorption, and (ii) the unique Z-scheme feature efficiently promotes the separation of the electron-hole pairs and enhances the reducibility of electrons in the conduction band of the g-C3 N4 . The origin of such an obvious advantage of the hierarchical Z-scheme is not only explained based on the experimental data but also investigated by modeling CO2 adsorption and CO adsorption on the three different atomic-scale surfaces via density functional theory calculation. The study creates new opportunities for hierarchical hematite and other metal-oxide-based Z-scheme system for solar fuel generation. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  17. Evolutionary design of discrete controllers for hybrid mechatronic systems

    DEFF Research Database (Denmark)

    Dupuis, Jean-Francois; Fan, Zhun; Goodman, Erik

    2015-01-01

    This paper investigates the issue of evolutionary design of controllers for hybrid mechatronic systems. Finite State Automaton (FSA) is selected as the representation for a discrete controller due to its interpretability, fast execution speed and natural extension to a statechart, which is very...... popular in industrial applications. A case study of a two-tank system is used to demonstrate that the proposed evolutionary approach can lead to a successful design of an FSA controller for the hybrid mechatronic system, represented by a hybrid bond graph. Generalisation of the evolved FSA controller...... of the evolutionary design of controllers for hybrid mechatronic systems. Finally, some important future research directions are pointed out, leading to the major work of the succeeding part of the research....

  18. A novel decentralized hierarchical access control scheme for the medical scenario

    DEFF Research Database (Denmark)

    Eskeland, Sigurd; Prasad, Neeli R.

    2006-01-01

    Electronic patient records contains highly personal and confidential information that it is essential to keep private. Thus, only the medical professionals providing care to a patient should access the patient record of the concerning patient. As personal medical data can be considered...... to be the property of the corresponding patient, it is justified that patients should have the opportunity to exert control over their own data. In this paper, we propose a cryptographic access control scheme allowing patients to grant medical teams authorizations to access their medical data. Moreover......, the hierarchical aspects of teams are taken into account so that the modules of the patient record are to be accessed according to the individual privileges of the medical professionals of the team. Thus, more privileged users obtain larger portions of the data than less privileged users....

  19. A novel decentralized hierarchical access control scheme for the medical scenario

    DEFF Research Database (Denmark)

    Eskeland, Sigurd; Prasad, Neeli R.

    2006-01-01

    Electronic patient records contains highly personal and confidential information that it is essential to keep private. Thus, only the medical professionals providing care to a patient should access the patient record of the concerning patient. As personal medical data can be considered......, the hierarchical aspects of teams are taken into account so that the modules of the patient record are to be accessed according to the individual privileges of the medical professionals of the team. Thus, more privileged users obtain larger portions of the data than less privileged users....... to be the property of the corresponding patient, it is justified that patients should have the opportunity to exert control over their own data. In this paper, we propose a cryptographic access control scheme allowing patients to grant medical teams authorizations to access their medical data. Moreover...

  20. Activate distributed energy resources' services: Hierarchical voltage controller as an application

    DEFF Research Database (Denmark)

    Han, Xue; Kosek, Anna Magdalena; Gehrke, Oliver

    2014-01-01

    The flexibilities from controllable distributed energy resources (DERs) offer the opportunities to mitigate some of the operation problems in the power distribution grid. The provision of system services requires the aggregation and coordination of their flexibilities, in order to obtain...... the efficient aggregation and dispatch, and it simplifies the optimization complexity; the involvement of DER flexibilities in voltage services can significantly improve the voltage quality and reduce the grid power loss without additional regulating devices....... the flexible capacity of large scale. In this paper, a hierarchical controller is presented to activate the aggregation, and tries to obtain a global optimum of the grid operation. A distribution grid with large penetration of highly varying generation or load is under the risk that the voltage quality...

  1. Templated and Catalytic Fabrication of N-Doped Hierarchical Porous Carbon-Carbon Nanotube Hybrids as Host for Lithium-Sulfur Batteries.

    Science.gov (United States)

    Cai, Junjie; Wu, Chun; Yang, Shaoran; Zhu, Ying; Shen, Pei Kang; Zhang, Kaili

    2017-10-04

    Nitrogen-doped hierarchical porous carbon and carbon nanotube hybrids (N-HPC-CNTs) are fabricated by simple pyrolysis of the N-rich raw material melamine-formaldehyde (MF) resin in the presence of nano-CaCO3 and a bimetallic combination of Fe-Co catalyst. During carbonization, nano-CaCO3 acts as a template for creating a hierarchical porous carbon, and the N atoms originated from MF resin are in situ doped into the carbon matrix simultaneously. Meanwhile, volatile gases generated by the thermal decomposition of MF resin could serve as carbon and nitrogen sources to grow nitrogen-doped CNTs on HPC. The growth mechanism is the same as that for conventional chemical vapor deposition (CVD) growth of CNTs on the metal catalysts, but the technological requirements are obviously not as harsh as those for the CVD method. Low-cost raw materials and simple equipment are sufficient for the growth. Moreover, the density and length of the CNTs are tunable, which can be simply adjusted via applying different amounts of Fe-Co catalysts. Such an N-doped hybrid structured carbon with mesopores can not only effectively prompt the physical and chemical adsorption of polysulfides but also ensures a fast electron transfer because of the incorporation of CNTs, which provides sufficient conducting pathways and effective connections between the CNTs and HPC. Furthermore, CNTs grown on HPC can act as physical barriers to block the large pores on HPC, thereby reducing the polysulfide loss. Benefiting from the advantages, the N-HPC-CNT hybrids are a desirable host prospect for Li-S batteries.

  2. Hybrid stabilizing control on a real mobile robot

    NARCIS (Netherlands)

    Oelen, Wilco; Oelen, W.; Berghuis, Harry; Berghuis, Harry; Nijmeijer, Henk; Canudas de Wit, Carlos

    1995-01-01

    To establish empirical verification of a stabilizing controller for nonholonomic systems, the authors implement a hybrid control concept on a 2-DOF mobile robot. Practical issues of velocity control are also addressed through a velocity controller which transforms the mobile robot to a new system

  3. A Hybrid Control Policy for Semi-Active Vehicle Suspensions

    Directory of Open Access Journals (Sweden)

    Fernando D. Goncalves

    2003-01-01

    Full Text Available Various control policies, such as skyhook and groundhook control, have often been considered for semi-active vehicle suspensions. Past studies have shown the performance limitations of these policies, as well as others that have been considered for vehicle applications. This study will provide a look into an alternative control technique called "hybrid control", which attempts to merge the performance benefits of skyhook and groundhook control. The results of this study are based on an experimental evaluation of hybrid control using a quarter-car rig and a magneto-rheological damper. The control policy is employed and evaluated under a steady-state or pure tone input, and a transient or step input. Peak-to-peak displacement and peak-to-peak acceleration are used to evaluate performance. The results indicate that hybrid control can offer benefits to both the sprung mass and the unsprung mass. The steady-state results reveal that hybrid control can be used to reduce the peak-to- peak displacements and accelerations of both bodies. The transient evaluation shows that hybrid control can be effective at reducing the peak-to-peak displacement of the sprung mass.

  4. Hierarchical Colored Petri Nets for Modeling and Analysis of Transit Signal Priority Control Systems

    Directory of Open Access Journals (Sweden)

    Yisheng An

    2018-01-01

    Full Text Available In this paper, we consider the problem of developing a model for traffic signal control with transit priority using Hierarchical Colored Petri nets (HCPN. Petri nets (PN are useful for state analysis of discrete event systems due to their powerful modeling capability and mathematical formalism. This paper focuses on their use to formalize the transit signal priority (TSP control model. In a four-phase traffic signal control model, the transit detection and two kinds of transit priority strategies are integrated to obtain the HCPN-based TSP control models. One of the advantages to use these models is the clear presentation of traffic light behaviors in terms of conditions and events that cause the detection of a priority request by a transit vehicle. Another advantage of the resulting models is that the correctness and reliability of the proposed strategies are easily analyzed. After their full reachable states are generated, the boundness, liveness, and fairness of the proposed models are verified. Experimental results show that the proposed control model provides transit vehicles with better effectiveness at intersections. This work helps advance the state of the art in the design of signal control models related to the intersection of roadways.

  5. Military Hybrid Vehicle Optimization and Control

    Science.gov (United States)

    2012-08-14

    Antoniou, .J. Komyathy. MociPling and simulation of various hybrid- elt >ctric configurations of the high-mobility multipurpose wheeled vehrile (hmmwv...John Wiley and Sons Inc, 1969. [61) M. Schetzen. THe Volterra and Wiener· Theories of Nonlinear Systems. Krieger, 1989. [62) Y. Yang L. Chua

  6. Novel hybrid adaptive controller for manipulation in complex perturbation environments.

    Directory of Open Access Journals (Sweden)

    Alex M C Smith

    Full Text Available In this paper we present a hybrid control scheme, combining the advantages of task-space and joint-space control. The controller is based on a human-like adaptive design, which minimises both control effort and tracking error. Our novel hybrid adaptive controller has been tested in extensive simulations, in a scenario where a Baxter robot manipulator is affected by external disturbances in the form of interaction with the environment and tool-like end-effector perturbations. The results demonstrated improved performance in the hybrid controller over both of its component parts. In addition, we introduce a novel method for online adaptation of learning parameters, using the fuzzy control formalism to utilise expert knowledge from the experimenter. This mechanism of meta-learning induces further improvement in performance and avoids the need for tuning through trial testing.

  7. Hierarchical charge distribution controls self-assembly process of silk in vitro

    Science.gov (United States)

    Zhang, Yi; Zhang, Cencen; Liu, Lijie; Kaplan, David L.; Zhu, Hesun; Lu, Qiang

    2015-12-01

    Silk materials with different nanostructures have been developed without the understanding of the inherent transformation mechanism. Here we attempt to reveal the conversion road of the various nanostructures and determine the critical regulating factors. The regulating conversion processes influenced by a hierarchical charge distribution were investigated, showing different transformations between molecules, nanoparticles and nanofibers. Various repulsion and compressive forces existed among silk fibroin molecules and aggregates due to the exterior and interior distribution of charge, which further controlled their aggregating and deaggregating behaviors and finally formed nanofibers with different sizes. Synergistic action derived from molecular mobility and concentrations could also tune the assembly process and final nanostructures. It is suggested that the complicated silk fibroin assembly processes comply a same rule based on charge distribution, offering a promising way to develop silk-based materials with designed nanostructures.

  8. Energy Management Systems and tertiary regulation in hierarchical control architectures for islanded micro-grids

    DEFF Research Database (Denmark)

    Sanseverino, Eleonora Riva; Di Silvestre, Maria Luisa; Quang, Ninh Nguyen

    2015-01-01

    In this paper, the structure of the highest level of a hierarchical control architecture for micro-grids is proposed. Such structure includes two sub-levels: the Energy Management System, EMS, and the tertiary regulation. The first devoted to energy resources allocation in each time slot based...... on marginal production costs, the latter aiming at finding the match between production and consumption satisfying the constraints set by the EMS level about the energy production in each time slot. Neglecting the efficiency of the different energy generation systems as well as that of the infrastructure...... for electrical energy distribution, the problem dealt with by the EMS sub-level is linear and can be solved by well known Linear Programming optimization procedures. The tertiary sub-level, below the EMS, optimizes mainly technical objectives and requires the solution of the Optimal Power Flow problem. After...

  9. Control Strategies for Islanded Microgrid using Enhanced Hierarchical Control Structure with Multiple Current-Loop Damping Schemes

    DEFF Research Database (Denmark)

    Han, Yang; Shen, Pan; Zhao, Xin

    2017-01-01

    In this paper, the modeling, controller design, and stability analysis of the islanded microgrid (MG) using enhanced hierarchical control structure with multiple current loop damping schemes is proposed. The islanded MG is consisted of the parallel-connected voltage source inverters using LCL...... of the state matrix. The moving average filter-based sequence decomposition method is proposed to extract the fundamental positive and negative sequences, and harmonic components. The multiple inner current loop damping scheme is presented, including the virtual positive, virtual negative and variable harmonic...... frequency, and virtual variable harmonic impedance loop at harmonic frequencies, and the inner voltage and current loop controllers. A small-signal model for the primary and secondary controls with additional phase-shift loop is presented, which shows an over-damped feature from eigenvalue analysis...

  10. Hybrid viscous damper with filtered integral force feedback control

    DEFF Research Database (Denmark)

    Høgsberg, Jan; Brodersen, Mark L.

    2016-01-01

    In hybrid damper systems active control devices are usually introduced to enhance the performance of otherwise passive dampers. In the present paper a hybrid damper concept is comprised of a passive viscous damper placed in series with an active actuator and a force sensor. The actuator motion is...... force leads velocity the control is stable and yields a significant improvement in damping performance compared to the pure viscous damper.......In hybrid damper systems active control devices are usually introduced to enhance the performance of otherwise passive dampers. In the present paper a hybrid damper concept is comprised of a passive viscous damper placed in series with an active actuator and a force sensor. The actuator motion...

  11. Enriching the hierarchical model of achievement motivation: autonomous and controlling reasons underlying achievement goals.

    Science.gov (United States)

    Michou, Aikaterini; Vansteenkiste, Maarten; Mouratidis, Athanasios; Lens, Willy

    2014-12-01

    The hierarchical model of achievement motivation presumes that achievement goals channel the achievement motives of need for achievement and fear of failure towards motivational outcomes. Yet, less is known whether autonomous and controlling reasons underlying the pursuit of achievement goals can serve as additional pathways between achievement motives and outcomes. We tested whether mastery approach, performance approach, and performance avoidance goals and their underlying autonomous and controlling reasons would jointly explain the relation between achievement motives (i.e., fear of failure and need for achievement) and learning strategies (Study 1). Additionally, we examined whether the autonomous and controlling reasons underlying learners' dominant achievement goal would account for the link between achievement motives and the educational outcomes of learning strategies and cheating (Study 2). Six hundred and six Greek adolescent students (Mage = 15.05, SD = 1.43) and 435 university students (Mage M = 20.51, SD = 2.80) participated in studies 1 and 2, respectively. In both studies, a correlational design was used and the hypotheses were tested via path modelling. Autonomous and controlling reasons underlying the pursuit of achievement goals mediated, respectively, the relation of need for achievement and fear of failure to aspects of learning outcomes. Autonomous and controlling reasons underlying achievement goals could further explain learners' functioning in achievement settings. © 2014 The British Psychological Society.

  12. Adaptive Hierarchical Voltage Control of a DFIG-Based Wind Power Plant for a Grid Fault

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Jinho; Muljadi, Eduard; Park, Jung-Wook; Kang, Yong Cheol

    2016-11-01

    This paper proposes an adaptive hierarchical voltage control scheme of a doubly-fed induction generator (DFIG)-based wind power plant (WPP) that can secure more reserve of reactive power (Q) in the WPP against a grid fault. To achieve this, each DFIG controller employs an adaptive reactive power to voltage (Q-V) characteristic. The proposed adaptive Q-V characteristic is temporally modified depending on the available Q capability of a DFIG; it is dependent on the distance from a DFIG to the point of common coupling (PCC). The proposed characteristic secures more Q reserve in the WPP than the fixed one. Furthermore, it allows DFIGs to promptly inject up to the Q limit, thereby improving the PCC voltage support. To avert an overvoltage after the fault clearance, washout filters are implemented in the WPP and DFIG controllers; they can prevent a surplus Q injection after the fault clearance by eliminating the accumulated values in the proportional-integral controllers of both controllers during the fault. Test results demonstrate that the scheme can improve the voltage support capability during the fault and suppress transient overvoltage after the fault clearance under scenarios of various system and fault conditions; therefore, it helps ensure grid resilience by supporting the voltage stability.

  13. Morphologically tuned 3D/1D rutile TiO{sub 2} hierarchical hybrid microarchitectures engineered by one-step surfactant free hydrothermal method

    Energy Technology Data Exchange (ETDEWEB)

    Maria John, Maria Angelin Sinthiya [Crystal Growth and Thin Film Laboratory, Department of Physics and Nanotechnology, Faculty of Engineering and Technology, SRM University, Kattankulathur 603203, Tamil Nadu (India); Ramamurthi, K., E-mail: ramamurthi.k@ktr.srmuniv.ac.in [Crystal Growth and Thin Film Laboratory, Department of Physics and Nanotechnology, Faculty of Engineering and Technology, SRM University, Kattankulathur 603203, Tamil Nadu (India); Sethuraman, K. [School of Physics, Madurai Kamaraj University, Madurai 625021, Tamil Nadu (India); Ramesh Babu, R. [Crystal Growth and Thin Film Laboratory, School of Physics, Bharathidasan University, Tiruchirappalli 620024, Tamil Nadu (India)

    2017-05-31

    Highlights: • TiO{sub 2} 1D-NRs are tuned to 3D/1D-HHMs by increasing growth temperature-first report. • TiO{sub 2} seeded glass substrates are used to reduce the lattice mismatch of TiO{sub 2} HHMs. • Growth temperature influences the structural, morphological and optical properties. • Possible growth mechanism is proposed for morphological changes. - Abstract: Present investigation reports on the surfactant free hydrothermal synthesize of the morphologically tuned hierarchical hybrid rutile titanium oxide (TiO{sub 2}) microarchitectures showing three dimensional microflower structures and cook pine tree like structures on the one dimensional nanorods formed over TiO{sub 2} seed layer coated glass substrates by tuning growth temperature. TiO{sub 2} seed layer of ∼100 nm thick was coated on the glass substrates employing sol–gel spin coating method and then rutile TiO{sub 2} microarchitectures were synthesized on the TiO{sub 2} seed layer by one-step surfactant free hydrothermal method. Deposited samples were characterized by X-ray diffraction, scanning electron microscopy, energy dispersive spectroscopy, UV–vis spectroscopy and photoluminescence spectroscopy techniques. Influence of the growth temperature on the crystallinity, morphology and optical properties along with the growth mechanism to achieve hierarchical microarchitectures was investigated. Present work revealed that the structural, morphological and optical properties of the TiO{sub 2} hierarchical microarchitectures strongly depend on the growth temperature. Further we proposed a model for the cause to effect possible morphological changes of rutile TiO{sub 2} microarchitectures as a function of growth temperatures on the TiO{sub 2} seeded glass substrates.

  14. Filtering and control of stochastic jump hybrid systems

    CERN Document Server

    Yao, Xiuming; Zheng, Wei Xing

    2016-01-01

    This book presents recent research work on stochastic jump hybrid systems. Specifically, the considered stochastic jump hybrid systems include Markovian jump Ito stochastic systems, Markovian jump linear-parameter-varying (LPV) systems, Markovian jump singular systems, Markovian jump two-dimensional (2-D) systems, and Markovian jump repeated scalar nonlinear systems. Some sufficient conditions are first established respectively for the stability and performances of those kinds of stochastic jump hybrid systems in terms of solution of linear matrix inequalities (LMIs). Based on the derived analysis conditions, the filtering and control problems are addressed. The book presents up-to-date research developments and novel methodologies on stochastic jump hybrid systems. The contents can be divided into two parts: the first part is focused on robust filter design problem, while the second part is put the emphasis on robust control problem. These methodologies provide a framework for stability and performance analy...

  15. A reconfigurable hybrid supervisory system for process control

    Energy Technology Data Exchange (ETDEWEB)

    Garcia, H.E. [Argonne National Lab., Idaho Falls, ID (United States); Ray, A.; Edwards, R.M. [Pennsylvania State Univ., University Park, PA (United States). Nuclear Engineering Dept.

    1994-12-31

    This paper presents a reconfigurable approach to decision and control systems for complex dynamic processes. The proposed supervisory control system is a reconfigurable hybrid architecture structured into three functional levels of hierarchy, namely, execution, supervision, and coordination. While, the bottom execution level is constituted by either reconfigurable continuously varying or discrete event systems, the top two levels are necessarily governed by reconfigurable sets of discrete event decision and control systems. Based on the process status, the set of active control and supervisory algorithm is chosen. The reconfigurable hybrid system is briefly described along with a discussion on its implementation at the Experimental Breeder Reactor 2 of Argonne National Laboratory. A process control application of this hybrid system is presented and evaluated in an in-plant experiment.

  16. Hierarchically-structured hollow NiO nanospheres/nitrogen-doped graphene hybrid with superior capacity retention and enhanced rate capability for lithium-ion batteries

    Science.gov (United States)

    Chen, Jiayuan; Wu, Xiaofeng; Liu, Ya; Gong, Yan; Wang, Pengfei; Li, Wenhui; Mo, Shengpeng; Tan, Qiangqiang; Chen, Yunfa

    2017-12-01

    A facile template-free synthesis strategy is demonstrated to fabricate nanostructured NiO/N-doped graphene hybrid, in which NiO hollow nanospheres with hierarchically mesoporous structure are tightly anchored on N-doped graphene matrix. The mesoporous shell of NiO can not only provide sufficient electrode/electrolyte contact areas to accelerate ion diffusion and electron exchange, but also efficiently mitigate the volume change that occurs during long-time reactions. Simultaneously, the reduced graphene oxide with doping nitrogen atoms are employed as effectively conductive backbone, further enhancing the electrochemical performances. When used as anodic material for lithium ion batteries, the synergistic system delivers a reversible capacity up to 1104.6 mAh g-1 after 150 cycles at a current density of 0.08 A g-1 and 422.3 mAh g-1 at a high charging rate of 4 A g-1, which is better than those of the bare counterparts and most other NiO-based materials reported in the previous literatures. The hierarchically hollow NiO nanostructure combined with N-doped graphene matrix provides a promising candidate applied in advanced anode materials for lithium ion batteries.

  17. Polyelectrolyte mediated formation of hydroxyapatite microspheres of controlled size and hierarchical structure.

    Science.gov (United States)

    Wang, Yongsheng; Hassan, Meer Saiful; Gunawan, Poernomo; Lau, Raymond; Wang, Xin; Xu, Rong

    2009-11-01

    The understanding of the role of polyelectrolytes in the synthesis of inorganic materials could provide effective routes towards design of advanced materials. In this study, negatively charged poly(styrene sulfonate) (PSS) is employed as a modifier in hydrothermal synthesis of hydroxyapatite (HA). The results indicate that both the morphology and particle size could be well controlled by adjusting the PSS concentration. The presence of PSS (within the range of 0-9.6wt%) modified the growth pattern of HA crystallites and results in particles from the ribbons to microspheres. The building units of various microspheres change from nanofibers to nanorods or nanoplates. Along with that, the microspheres become smaller and more compact at higher PSS concentrations. The adsorption of PSS onto certain crystal faces as well as the complexing effect of PSS with Ca(2+) can be considered as the controlling factors which determine the influence of PSS on the growth mode. The drug release study indicates that the flower-like HA microspheres can be possibly used as effective carriers for biomedical applications. The present synthesis method is simple and controllable, and can provide a convenient route to synthesize uniform HA microspheres with different sizes and hierarchical structures.

  18. A Rapid Prototyping Tool for Embedded, Real-Time Hierarchical Control Systems

    Directory of Open Access Journals (Sweden)

    Hugo Andrade

    2008-12-01

    Full Text Available Laboratory Virtual Instrumentation and Engineering Workbench (LabVIEW is a graphical programming tool based on the dataflow language G. Recently, runtime support for a hard real-time environment has become available for LabVIEW, which makes it an option for embedded systems prototyping. Due to its characteristics, the environment presents itself as an ideal tool for both the design and implementation of embedded software. In this paper, we study the design and implementation of embedded software by using G as the specification language and the LabVIEW RT real-time platform. One of the main advantages of this approach is that the environment leads itself to a very smooth transition from design to implementation, allowing for powerful cosimulation strategies (e.g., hardware in the loop, runtime modeling. We characterize the semantics and formal model of computation of G. We compare it to other models of computation and develop design rules and algorithms to propose sound embedded design in the language. We investigate the specification and mapping of hierarchical control systems in LabVIEW and G. Finally, we describe the development of a state-of-the-art embedded motion control system using LabVIEW as the specification, simulation and implementation tool, using the proposed design principles. The solution is state-of-the-art in terms of flexibility and control performance.

  19. A Rapid Prototyping Tool for Embedded, Real-Time Hierarchical Control Systems

    Directory of Open Access Journals (Sweden)

    Ramamoorthy Subramanian

    2008-01-01

    Full Text Available Abstract Laboratory Virtual Instrumentation and Engineering Workbench (LabVIEW is a graphical programming tool based on the dataflow language G. Recently, runtime support for a hard real-time environment has become available for LabVIEW, which makes it an option for embedded systems prototyping. Due to its characteristics, the environment presents itself as an ideal tool for both the design and implementation of embedded software. In this paper, we study the design and implementation of embedded software by using G as the specification language and the LabVIEW RT real-time platform. One of the main advantages of this approach is that the environment leads itself to a very smooth transition from design to implementation, allowing for powerful cosimulation strategies (e.g., hardware in the loop, runtime modeling. We characterize the semantics and formal model of computation of G. We compare it to other models of computation and develop design rules and algorithms to propose sound embedded design in the language. We investigate the specification and mapping of hierarchical control systems in LabVIEW and G. Finally, we describe the development of a state-of-the-art embedded motion control system using LabVIEW as the specification, simulation and implementation tool, using the proposed design principles. The solution is state-of-the-art in terms of flexibility and control performance.

  20. Hierarchical Control Scheme for Improving Transient Voltage Recovery of a DFIG-Based WPP

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Jinho; Muljadi, Eduard; Kang, Yong Cheol

    2015-06-05

    Modern grid codes require that wind power plants (WPPs) inject reactive power according to the voltage dip at a point of interconnection (POI). This requirement helps to support a POI voltage during a fault. However, if a fault is cleared, the POI and wind turbine generator (WTG) voltages are likely to exceed acceptable levels unless the WPP reduces the injected reactive power quickly. This might deteriorate the stability of a grid by allowing the disconnection of WTGs to avoid any damage. This paper proposes a hierarchical control scheme of a doubly-fed induction generator (DFIG)-based WPP. The proposed scheme aims to improve the reactive power injecting capability during the fault and suppress the overvoltage after the fault clearance. To achieve the former, an adaptive reactive power-to-voltage scheme is implemented in each DFIG controller so that a DFIG with a larger reactive power capability will inject more reactive power. To achieve the latter, a washout filter is used to capture a high frequency component contained in the WPP voltage, which is used to remove the accumulated values in the proportional-integral controllers. Test results indicate that the scheme successfully supports the grid voltage during the fault, and recovers WPP voltages without exceeding the limit after the fault clearance.

  1. Model-based Dynamic Control Allocation in a Hybrid Neuroprosthesis.

    Science.gov (United States)

    Kirsch, Nicholas A; Bao, Xuefeng; Alibeji, Naji A; Dicianno, Brad E; Sharma, Nitin

    2017-09-22

    A hybrid neuroprosthesis that combines human muscle power, elicited through functional electrical stimulation (FES), with a powered orthosis may be advantageous over a sole FES or a powered exoskeleton-based rehabilitation system. The hybrid system can conceivably overcome torque reduction due to FESinduced muscle fatigue by complementarily using torque from the powered exoskeleton. The second advantage of the hybrid system is that the use of human muscle power can supplement the powered exoskeleton's power (motor torque) requirements; thus, potentially reducing the size and weight of a walking restoration system. To realize these advantages, however, it is unknown how to concurrently optimize desired control performance and allocation of control inputs between FES and electric motor. In this paper, a model predictive control-based dynamic control allocation (DCA) is used to allocate control between FES and the electric motor that simultaneously maintain a desired knee angle. The experimental results, depicting the performance of the DCA method while the muscle fatigues, are presented for an able-bodied participant and a participant with spinal cord injury. The experimental results showed that the motor torque recruited by the hybrid system was less than that recruited by the motor-only system, the algorithm can be easily used to allocate more control input to the electric motor as the muscle fatigues, and the muscle fatigue induced by the hybrid system was found to be less than the fatigue induced by sole FES. These results validate the aforementioned advantages of the hybrid system; thus implying the hybrid technology's potential use in walking rehabilitation.

  2. Viewing hybrid systems as products of control systems and automata

    Science.gov (United States)

    Grossman, R. L.; Larson, R. G.

    1992-01-01

    The purpose of this note is to show how hybrid systems may be modeled as products of nonlinear control systems and finite state automata. By a hybrid system, we mean a network of consisting of continuous, nonlinear control system connected to discrete, finite state automata. Our point of view is that the automata switches between the control systems, and that this switching is a function of the discrete input symbols or letters that it receives. We show how a nonlinear control system may be viewed as a pair consisting of a bialgebra of operators coding the dynamics, and an algebra of observations coding the state space. We also show that a finite automata has a similar representation. A hybrid system is then modeled by taking suitable products of the bialgebras coding the dynamics and the observation algebras coding the state spaces.

  3. Hierarchical path planning and control of a small fixed-wing UAV: Theory and experimental validation

    Science.gov (United States)

    Jung, Dongwon

    2007-12-01

    problem is formulated by setting up geometric linear constraints as well as boundary conditions. Subsequently, we construct B-spline path templates by solving a set of distinct optimization problems. For application in UAV motion planning, the path templates are incorporated to replace parts of the entire path by the smooth B-spline paths. Each path segment is stitched together while preserving continuity to obtain a final smooth reference path to be used for path following control. The path following control for a small fixed-wing UAV to track the prescribed smooth reference path is also addressed. Assuming the UAV is equipped with an autopilot for low level control, we adopt a kinematic error model with respect to the moving Serret-Frenet frame attached to a path for tracking controller design. A kinematic path following control law that commands heading rate is presented. Backstepping is applied to derive the roll angle command by taking into account the approximate closed-loop roll dynamics. A parameter adaptation technique is employed to account for the inaccurate time constant of the closed-loop roll dynamics during actual implementation. Finally, we implement the proposed hierarchical path control of a small UAV on the actual hardware platform, which is based on an 1/5 scale R/C model airframe (Decathlon) and the autopilot hardware and software. Based on the hardware-in-the-loop (HIL) simulation environment, the proposed hierarchical path control algorithm has been validated through on-line, real-time implementation on a small micro-controller. By a seamless integration of the control algorithms for path planning, path smoothing, and path following, it has been demonstrated that the UAV equipped with a small autopilot having limited computational resources manages to accomplish the path control objective to reach the goal while avoiding obstacles with minimal human intervention.

  4. Evolutionary design of discrete controllers for hybrid mechatronic systems

    Science.gov (United States)

    Dupuis, Jean-Francois; Fan, Zhun; Goodman, Erik

    2015-01-01

    This paper investigates the issue of evolutionary design of controllers for hybrid mechatronic systems. Finite State Automaton (FSA) is selected as the representation for a discrete controller due to its interpretability, fast execution speed and natural extension to a statechart, which is very popular in industrial applications. A case study of a two-tank system is used to demonstrate that the proposed evolutionary approach can lead to a successful design of an FSA controller for the hybrid mechatronic system, represented by a hybrid bond graph. Generalisation of the evolved FSA controller to unknown control targets is also tested. Further, a comparison with another type of controller, a lookahead controller, is conducted, with advantages and disadvantages of each discussed. The comparison sheds light on which type of controller representation is a better choice to use in various stages of the evolutionary design of controllers for hybrid mechatronic systems. Finally, some important future research directions are pointed out, leading to the major work of the succeeding part of the research.

  5. Design of IP Camera Access Control Protocol by Utilizing Hierarchical Group Key

    Directory of Open Access Journals (Sweden)

    Jungho Kang

    2015-08-01

    Full Text Available Unlike CCTV, security video surveillance devices, which we have generally known about, IP cameras which are connected to a network either with or without wire, provide monitoring services through a built-in web-server. Due to the fact that IP cameras can use a network such as the Internet, multiple IP cameras can be installed at a long distance and each IP camera can utilize the function of a web server individually. Even though IP cameras have this kind of advantage, it has difficulties in access control management and weakness in user certification, too. Particularly, because the market of IP cameras did not begin to be realized a long while ago, systems which are systematized from the perspective of security have not been built up yet. Additionally, it contains severe weaknesses in terms of access authority to the IP camera web server, certification of users, and certification of IP cameras which are newly installed within a network, etc. This research grouped IP cameras hierarchically to manage them systematically, and provided access control and data confidentiality between groups by utilizing group keys. In addition, IP cameras and users are certified by using PKI-based certification, and weak points of security such as confidentiality and integrity, etc., are improved by encrypting passwords. Thus, this research presents specific protocols of the entire process and proved through experiments that this method can be actually applied.

  6. Coordinated Voltage Control of Transformer Taps on account of Hierarchical Structure in Power System

    Science.gov (United States)

    Nakachi, Yoshiki; Kato, Satoshi; Ukai, Hiroyuki

    Participation of distributed generators (DG), such as wind turbines, co-generation system etc., is natural trend from ecological point of view and will increase more and more. The outputs of these DGs mainly depend on weather condition but don't correspond to the changes of electrical load demand necessarily. On the other hand, due to the deregulation of electric power market, the power flow in power system will uncertainly vary with several power transactions. Thus, complex power flow by DGs or transactions will cause the voltage deviation. It will be difficult to sustain the voltage quality by using the conventional voltage/reactive power control in near future. In this paper, in order to avoid such a voltage deviation and to decrease the frequency of transformer tap actions, the coordinated voltage control scheme of transformer taps on account of hierarchical structure in power system is proposed. In the proposed scheme, integral of voltage deviation at each layer bus is applied to decide the timing of each transformer tap action. It is confirmed by some numerical simulations that the proposed scheme is able to respond to every conditions on voltage deviation.

  7. Hybrid-impulsive second order sliding mode control: Lyapunov approach

    NARCIS (Netherlands)

    Shtessel, Y.; Glumineau, A.; Plestan, F.; Weiss, M.

    2013-01-01

    A perturbed nonlinear system of relative degree two controlled by discontinuous-impulsive feedbacks is studied. The hybrid-impulsive terms serve to drive instantaneously the system trajectories to the origin or to its small vicinity. In particular, impulsive-twisting control exhibits an uniform

  8. Route-Based Control of Hybrid Electric Vehicles: Preprint

    Energy Technology Data Exchange (ETDEWEB)

    Gonder, J. D.

    2008-01-01

    Today's hybrid electric vehicle controls cannot always provide maximum fuel savings over all drive cycles. Route-based controls could improve HEV fuel efficiency by 2%-4% and help save nearly 6.5 million gallons of fuel annually.

  9. Real Time Energy Management Control Strategies for Hybrid Powertrains

    Science.gov (United States)

    Zaher, Mohamed Hegazi Mohamed

    In order to improve fuel efficiency and reduce emissions of mobile vehicles, various hybrid power-train concepts have been developed over the years. This thesis focuses on embedded control of hybrid powertrain concepts for mobile vehicle applications. Optimal robust control approach is used to develop a real time energy management strategy for continuous operations. The main idea is to store the normally wasted mechanical regenerative energy in energy storage devices for later usage. The regenerative energy recovery opportunity exists in any condition where the speed of motion is in opposite direction to the applied force or torque. This is the case when the vehicle is braking, decelerating, or the motion is driven by gravitational force, or load driven. There are three main concepts for regernerative energy storing devices in hybrid vehicles: electric, hydraulic, and flywheel. The real time control challenge is to balance the system power demand from the engine and the hybrid storage device, without depleting the energy storage device or stalling the engine in any work cycle, while making optimal use of the energy saving opportunities in a given operational, often repetitive cycle. In the worst case scenario, only engine is used and hybrid system completely disabled. A rule based control is developed and tuned for different work cycles and linked to a gain scheduling algorithm. A gain scheduling algorithm identifies the cycle being performed by the machine and its position via GPS, and maps them to the gains.

  10. Intelligent Control Strategy of Fuel Cell Hybrid Vehicles

    OpenAIRE

    Abolfazl Hajizadeh

    2011-01-01

    This paper deals a control strategy developed for optimizing the power flow in a Fuel Cell Hybrid Vehicle (FCHV) structure. This method implements an on-line power management based on the neuro-fuzzy controller between dual power sources that consist of a battery bank and a fuel cell (FC). This structure included battery and fuel cell and its power train system include an Electric Motor (EM) and vehicle dynamics. The proposed control method involves an intelligent controller which captures al...

  11. Hybrid Multi-Agent Control in Microgrids: Framework, Models and Implementations Based on IEC 61850

    Directory of Open Access Journals (Sweden)

    Xiaobo Dou

    2014-12-01

    Full Text Available Operation control is a vital and complex issue for microgrids. The objective of this paper is to explore the practical means of applying decentralized control by using a multi agent system in actual microgrids and devices. This paper presents a hierarchical control framework (HCF consisting of local reaction control (LRC level, local decision control (LDC level, horizontal cooperation control (HCC level and vertical cooperation control (VCC level to meet different control requirements of a microgrid. Then, a hybrid multi-agent control model (HAM is proposed to implement HCF, and the properties, functionalities and operating rules of HAM are described. Furthermore, the paper elaborates on the implementation of HAM based on the IEC 61850 Standard, and proposes some new implementation methods, such as extended information models of IEC 61850 with agent communication language and bidirectional interaction mechanism of generic object oriented substation event (GOOSE communication. A hardware design and software system are proposed and the results of simulation and laboratory tests verify the effectiveness of the proposed strategies, models and implementations.

  12. Adaptive powertrain control for plugin hybrid electric vehicles

    Science.gov (United States)

    Kedar-Dongarkar, Gurunath; Weslati, Feisel

    2013-10-15

    A powertrain control system for a plugin hybrid electric vehicle. The system comprises an adaptive charge sustaining controller; at least one internal data source connected to the adaptive charge sustaining controller; and a memory connected to the adaptive charge sustaining controller for storing data generated by the at least one internal data source. The adaptive charge sustaining controller is operable to select an operating mode of the vehicle's powertrain along a given route based on programming generated from data stored in the memory associated with that route. Further described is a method of adaptively controlling operation of a plugin hybrid electric vehicle powertrain comprising identifying a route being traveled, activating stored adaptive charge sustaining mode programming for the identified route and controlling operation of the powertrain along the identified route by selecting from a plurality of operational modes based on the stored adaptive charge sustaining mode programming.

  13. Hierarchically nanostructured hydroxyapatite: hydrothermal synthesis, morphology control, growth mechanism, and biological activity

    Science.gov (United States)

    Ma, Ming-Guo

    2012-01-01

    Hierarchically nanosized hydroxyapatite (HA) with flower-like structure assembled from nanosheets consisting of nanorod building blocks was successfully synthesized by using CaCl2, NaH2PO4, and potassium sodium tartrate via a hydrothermal method at 200°C for 24 hours. The effects of heating time and heating temperature on the products were investigated. As a chelating ligand and template molecule, the potassium sodium tartrate plays a key role in the formation of hierarchically nanostructured HA. On the basis of experimental results, a possible mechanism based on soft-template and self-assembly was proposed for the formation and growth of the hierarchically nanostructured HA. Cytotoxicity experiments indicated that the hierarchically nanostructured HA had good biocompatibility. It was shown by in-vitro experiments that mesenchymal stem cells could attach to the hierarchically nanostructured HA after being cultured for 48 hours. Objective The purpose of this study was to develop facile and effective methods for the synthesis of novel hydroxyapatite (HA) with hierarchical nanostructures assembled from independent and discrete nanobuilding blocks. Methods A simple hydrothermal approach was applied to synthesize HA by using CaCl2, NaH2PO4, and potassium sodium tartrate at 200°C for 24 hours. The cell cytotoxicity of the hierarchically nanostructured HA was tested by MTT (3-(4,5-dimethylthiazol-2-yl)-2,5-diphenyltetrazolium bromide) assay. Results HA displayed the flower-like structure assembled from nanosheets consisting of nanorod building blocks. The potassium sodium tartrate was used as a chelating ligand, inducing the formation and self-assembly of HA nanorods. The heating time and heating temperature influenced the aggregation and morphology of HA. The cell viability did not decrease with the increasing concentration of hierarchically nanostructured HA added. Conclusion A novel, simple and reliable hydrothermal route had been developed for the synthesis of

  14. Modelling Supervisory Controller for Hybrid Power Systems

    DEFF Research Database (Denmark)

    Pereira, Alexandre De Lemos; Bindner, H.; Lundsager, P.

    1999-01-01

    The modular concept described in this paper attempts to design standard supervisory controllers for different applications. The functional abstraction hierarchy technique is used to formulate the control requirements and identify the functions of the control system. The modular algorithm is gener...... and flexible enough to be used with any system configuration and several goals.......The modular concept described in this paper attempts to design standard supervisory controllers for different applications. The functional abstraction hierarchy technique is used to formulate the control requirements and identify the functions of the control system. The modular algorithm is generic...

  15. Hybrid dislocated control and general hybrid projective dislocated synchronization for the modified Lue chaotic system

    Energy Technology Data Exchange (ETDEWEB)

    Xu Yuhua [College of Information Science and Technology, Donghua University, Shanghai 201620 (China) and Department of Maths, Yunyang Teacher' s College, Hubei 442000 (China)], E-mail: yuhuaxu2004@163.com; Zhou Wuneng [College of Information Science and Technology, Donghua University, Shanghai 201620 (China)], E-mail: wnzhou@163.com; Fang Jianan [College of Information Science and Technology, Donghua University, Shanghai 201620 (China)

    2009-11-15

    This paper introduces a modified Lue chaotic system, and some basic dynamical properties are studied. Based on these properties, we present hybrid dislocated control method for stabilizing chaos to unstable equilibrium and limit cycle. In addition, based on the Lyapunov stability theorem, general hybrid projective dislocated synchronization (GHPDS) is proposed, which includes complete dislocated synchronization, dislocated anti-synchronization and projective dislocated synchronization as its special item. The drive and response systems discussed in this paper can be strictly different dynamical systems (including different dimensional systems). As examples, the modified Lue chaotic system, Chen chaotic system and hyperchaotic Chen system are discussed. Numerical simulations are given to show the effectiveness of these methods.

  16. Formation and shape-control of hierarchical cobalt nanostructures using quaternary ammonium salts in aqueous media

    Directory of Open Access Journals (Sweden)

    Ruchi Deshmukh

    2017-02-01

    Full Text Available Aggregation and self-assembly are influenced by molecular interactions. With precise control of molecular interactions, in this study, a wide range of nanostructures ranging from zero-dimensional nanospheres to hierarchical nanoplates and spindles have been successfully synthesized at ambient temperature in aqueous solution. The nanostructures reported here are formed by aggregation of spherical seed particles (monomers in presence of quaternary ammonium salts. Hydroxide ions and a magnetic moment of the monomers are essential to induce shape anisotropy in the nanostructures. The cobalt nanoplates are studied in detail, and a growth mechanism based on collision, aggregation, and crystal consolidation is proposed based on a electron microscopy studies. The growth mechanism is generalized for rods, spindles, and nearly spherical nanostructures, obtained by varying the cation group in the quaternary ammonium hydroxides. Electron diffraction shows different predominant lattice planes on the edge and on the surface of a nanoplate. The study explains, hereto unaddressed, the temporal evolution of complex magnetic nanostructures. These ferromagnetic nanostructures represent an interesting combination of shape anisotropy and magnetic characteristics.

  17. Formation and shape-control of hierarchical cobalt nanostructures using quaternary ammonium salts in aqueous media.

    Science.gov (United States)

    Deshmukh, Ruchi; Mehra, Anurag; Thaokar, Rochish

    2017-01-01

    Aggregation and self-assembly are influenced by molecular interactions. With precise control of molecular interactions, in this study, a wide range of nanostructures ranging from zero-dimensional nanospheres to hierarchical nanoplates and spindles have been successfully synthesized at ambient temperature in aqueous solution. The nanostructures reported here are formed by aggregation of spherical seed particles (monomers) in presence of quaternary ammonium salts. Hydroxide ions and a magnetic moment of the monomers are essential to induce shape anisotropy in the nanostructures. The cobalt nanoplates are studied in detail, and a growth mechanism based on collision, aggregation, and crystal consolidation is proposed based on a electron microscopy studies. The growth mechanism is generalized for rods, spindles, and nearly spherical nanostructures, obtained by varying the cation group in the quaternary ammonium hydroxides. Electron diffraction shows different predominant lattice planes on the edge and on the surface of a nanoplate. The study explains, hereto unaddressed, the temporal evolution of complex magnetic nanostructures. These ferromagnetic nanostructures represent an interesting combination of shape anisotropy and magnetic characteristics.

  18. 24 DOF EMG controlled hybrid actuated prosthetic hand.

    Science.gov (United States)

    Atasoy, A; Kaya, E; Toptas, E; Kuchimov, S; Kaplanoglu, E; Ozkan, M

    2016-08-01

    A complete mechanical design concept of an electromyogram (EMG) controlled hybrid prosthetic hand, with 24 degree of freedom (DOF) anthropomorphic structure is presented. Brushless DC motors along with Shape Memory Alloy (SMA) actuators are used to achieve dexterous functionality. An 8 channel EMG is used for detecting 7 basic hand gestures for control purposes. The prosthetic hand will be integrated with the Neural Network (NNE) based controller in the next phase of the study.

  19. Hybrid Control and Verification of a Pulsed Welding Process

    DEFF Research Database (Denmark)

    Wisniewski, Rafal; Larsen, Jesper Abildgaard; Izadi-Zamanabadi, Roozbeh

    Currently systems, which are desired to control, are becoming more and more complex and classical control theory objectives, such as stability or sensitivity, are often not sufficient to cover the control objectives of the systems. In this paper it is shown how the dynamics of a pulsed welding...... process can be reformulated into a timed automaton hybrid setting and subsequently properties such as reachability and deadlock absence is verified by the simulation and verification tool UPPAAL....

  20. Control of Rate-Bounded Hybrid Systems with Liveness Specifications

    Science.gov (United States)

    Heymann, Michael; Lin, Feng; Meyer, George

    1998-01-01

    In the present paper we examine the control problem for a class of composite hybrid machines (CHMs) that consist of concurrent operation (employing synchronous composition) of elementary hybrid machines (EHMs), that allows both signal sharing and event synchronization. A controller can then be coupled with the plant by means of synchronous composition. We confine our attention to controllers that interact with the system only through event synchronization. We present an initial investigation of synthesis of liveness controllers for hybrid machines. To this end we define open hybrid machines as systems that can interact with the environment through event synchronization and can be therefor be "driven" to their marked configuration by user (controller). Liveness specifications must be associated with timing constraints. We may require that for a specified time limit, every run reach a marked configuration within that time limit. Alternatively, a more relaxed specification may be that, for some (unspecified) global time bound, every run of the system reach a marked configuration within that time bound. Finally, the least restrictive liveness requirement is that every run reach a marked configuration within a finite time limit (but we do not insist on the existence of a global time bound for all runs).

  1. Hybrid Feedforward-Feedback Noise Control Using Virtual Sensors

    Science.gov (United States)

    Bean, Jacob; Fuller, Chris; Schiller, Noah

    2016-01-01

    Several approaches to active noise control using virtual sensors are evaluated for eventual use in an active headrest. Specifically, adaptive feedforward, feedback, and hybrid control structures are compared. Each controller incorporates the traditional filtered-x least mean squares algorithm. The feedback controller is arranged in an internal model configuration to draw comparisons with standard feedforward control theory results. Simulation and experimental results are presented that illustrate each controllers ability to minimize the pressure at both physical and virtual microphone locations. The remote microphone technique is used to obtain pressure estimates at the virtual locations. It is shown that a hybrid controller offers performance benefits over the traditional feedforward and feedback controllers. Stability issues associated with feedback and hybrid controllers are also addressed. Experimental results show that 15-20 dB reduction in broadband disturbances can be achieved by minimizing the measured pressure, whereas 10-15 dB reduction is obtained when minimizing the estimated pressure at a virtual location.

  2. Hybrid adaptive ascent flight control for a flexible launch vehicle

    Science.gov (United States)

    Lefevre, Brian D.

    For the purpose of maintaining dynamic stability and improving guidance command tracking performance under off-nominal flight conditions, a hybrid adaptive control scheme is selected and modified for use as a launch vehicle flight controller. This architecture merges a model reference adaptive approach, which utilizes both direct and indirect adaptive elements, with a classical dynamic inversion controller. This structure is chosen for a number of reasons: the properties of the reference model can be easily adjusted to tune the desired handling qualities of the spacecraft, the indirect adaptive element (which consists of an online parameter identification algorithm) continually refines the estimates of the evolving characteristic parameters utilized in the dynamic inversion, and the direct adaptive element (which consists of a neural network) augments the linear feedback signal to compensate for any nonlinearities in the vehicle dynamics. The combination of these elements enables the control system to retain the nonlinear capabilities of an adaptive network while relying heavily on the linear portion of the feedback signal to dictate the dynamic response under most operating conditions. To begin the analysis, the ascent dynamics of a launch vehicle with a single 1st stage rocket motor (typical of the Ares 1 spacecraft) are characterized. The dynamics are then linearized with assumptions that are appropriate for a launch vehicle, so that the resulting equations may be inverted by the flight controller in order to compute the control signals necessary to generate the desired response from the vehicle. Next, the development of the hybrid adaptive launch vehicle ascent flight control architecture is discussed in detail. Alterations of the generic hybrid adaptive control architecture include the incorporation of a command conversion operation which transforms guidance input from quaternion form (as provided by NASA) to the body-fixed angular rate commands needed by the

  3. Hybrid Adaptive Flight Control with Model Inversion Adaptation

    Science.gov (United States)

    Nguyen, Nhan

    2011-01-01

    This study investigates a hybrid adaptive flight control method as a design possibility for a flight control system that can enable an effective adaptation strategy to deal with off-nominal flight conditions. The hybrid adaptive control blends both direct and indirect adaptive control in a model inversion flight control architecture. The blending of both direct and indirect adaptive control provides a much more flexible and effective adaptive flight control architecture than that with either direct or indirect adaptive control alone. The indirect adaptive control is used to update the model inversion controller by an on-line parameter estimation of uncertain plant dynamics based on two methods. The first parameter estimation method is an indirect adaptive law based on the Lyapunov theory, and the second method is a recursive least-squares indirect adaptive law. The model inversion controller is therefore made to adapt to changes in the plant dynamics due to uncertainty. As a result, the modeling error is reduced that directly leads to a decrease in the tracking error. In conjunction with the indirect adaptive control that updates the model inversion controller, a direct adaptive control is implemented as an augmented command to further reduce any residual tracking error that is not entirely eliminated by the indirect adaptive control.

  4. Real-Time Energy Management Control for Hybrid Electric Powertrains

    Directory of Open Access Journals (Sweden)

    Mohamed Zaher

    2013-01-01

    Full Text Available This paper focuses on embedded control of a hybrid powertrain concepts for mobile vehicle applications. Optimal robust control approach is used to develop a real-time energy management strategy. The main idea is to store the normally wasted mechanical regenerative energy in energy storage devices for later usage. The regenerative energy recovery opportunity exists in any condition where the speed of motion is in the opposite direction to the applied force or torque. This is the case when the vehicle is braking, decelerating, the motion is driven by gravitational force, or load driven. There are three main concepts for energy storing devices in hybrid vehicles: electric, hydraulic, and mechanical (flywheel. The real-time control challenge is to balance the system power demands from the engine and the hybrid storage device, without depleting the energy storage device or stalling the engine in any work cycle. In the worst-case scenario, only the engine is used and the hybrid system is completely disabled. A rule-based control algorithm is developed and is tuned for different work cycles and could be linked to a gain scheduling algorithm. A gain scheduling algorithm identifies the cycle being performed by the work machine and its position via GPS and maps both of them to the gains.

  5. A hybrid iterative scheme for optimal control problems governed by ...

    African Journals Online (AJOL)

    This paper presents an iterative approach based on hybrid of perturbation and parametrization methods for obtaining approximate solutions of optimal control problems governed by some Fredholm integral equations. By some numerical examples, it is emphasized that this scheme is very effective and it produces ...

  6. Model Predictive Control of the Hybrid Ventilation for Livestock

    DEFF Research Database (Denmark)

    Wu, Zhuang; Stoustrup, Jakob; Trangbæk, Klaus

    2006-01-01

    In this paper, design and simulation results of Model Predictive Control (MPC) strategy for livestock hybrid ventilation systems and associated indoor climate through variable valve openings and exhaust fans are presented. The design is based on thermal comfort parameters for poultry in barns...

  7. Biofunctionalized Lipid-Polymer Hybrid Nanocontainers with Controlled Permeability

    NARCIS (Netherlands)

    Dudia, Alma; Koçer, Armağan; Subramaniam, Vinod; Kanger, Johannes S.

    2008-01-01

    We have successfully developed, for the first time, a novel polymer–lipid hybrid nanocontainer with controlled permeability functionality. The nanocontainer is made by nanofabricating holes with desired dimensions in an impermeable polymer scaffold by focused ion beam drilling and sealing them with

  8. Biofunctionalized Lipid - Polymer Hybrid Nanocontainers with Controlled Permeability

    NARCIS (Netherlands)

    Dudia, A.; Kocer, Armagan; Subramaniam, Vinod; Kanger, Johannes S.

    2008-01-01

    We have successfully developed, for the first time, a novel polymer–lipid hybrid nanocontainer with controlled permeability functionality. The nanocontainer is made by nanofabricating holes with desired dimensions in an impermeable polymer scaffold by focused ion beam drilling and sealing them with

  9. Biofunctionalized lipid-polymer hybrid nanocontainers with controlled permeability

    NARCIS (Netherlands)

    Dudia, Alma; Koçer, Armagan; Subramaniam, Vinod; Kanger, Johannes S

    We have successfully developed, for the first time, a novel polymer-lipid hybrid nanocontainer with controlled permeability functionality. The nanocontainer is made by nanofabricating holes with desired dimensions in an impermeable polymer scaffold by focused ion beam drilling and sealing them with

  10. Implementation of hybrid pollution control techniques to regulate the ...

    African Journals Online (AJOL)

    discharges of untreated heavy metal industrial effluents to the receiving environments. This paper describes the implementation and uses of hybrid pollution control techniques to regulate the metal finishing industries to reduce their environmental impact. The techniques used are a combination of environmental auditing ...

  11. Hierarchical layered Ni(3)S(2)-graphene hybrid composites for efficient photocatalytic reduction of Cr(VI).

    Science.gov (United States)

    Hu, Pinpin; Liu, Xinjuan; Liu, Baibai; Li, Lei; Qin, Wei; Yu, Huangze; Zhong, Sisi; Li, Yan; Ren, Zhenxing; Wang, Mengliang

    2017-06-15

    Exploring visible light responsive media remains a challenge for solar energy photocatalysis applications. We report the Ni3S2-reduced graphene oxide (NG) hybrid composites with sheet-on-sheet structures synthesized by a facile microwave-assisted method. Their morphology, structure and photocatalytic activity in the reduction of Cr(VI) were characterized by scanning electron microscopy, X-ray diffraction, UV-Vis absorption spectroscopy, and electrochemical impedance spectra, respectively. The results show that NG hybrid composites show excellent visible light photocatalytic activity in the reduction of Cr(VI) compared to pure Ni3S2. The Cr(VI) reduction rate of higher than 90% has been achieved with 1wt.% reduced graphene oxide under visible light irradiation at 180min. Improvement is attributed to its efficient charge separation and more active sites due to the integrative effect and good interfacial contact between Ni3S2 and reduced graphene oxide. Copyright © 2017 Elsevier Inc. All rights reserved.

  12. Impulsive and hybrid dynamical systems stability, dissipativity, and control

    CERN Document Server

    Haddad, Wassim M; Nersesov, Sergey G

    2014-01-01

    This book develops a general analysis and synthesis framework for impulsive and hybrid dynamical systems. Such a framework is imperative for modern complex engineering systems that involve interacting continuous-time and discrete-time dynamics with multiple modes of operation that place stringent demands on controller design and require implementation of increasing complexity--whether advanced high-performance tactical fighter aircraft and space vehicles, variable-cycle gas turbine engines, or air and ground transportation systems. Impulsive and Hybrid Dynamical Systems goes beyond similar

  13. Controllable assembly of well-defined monodisperse Au nanoparticles on hierarchical ZnO microspheres for enhanced visible-light-driven photocatalytic and antibacterial activity.

    Science.gov (United States)

    Wang, Yuan; Fang, Hua-Bin; Zheng, Yan-Zhen; Ye, Rongqin; Tao, Xia; Chen, Jian-Feng

    2015-12-07

    A high-efficiency visible-light-driven photocatalyst composed of homogeneously distributed Au nanoparticles (AuNPs) well-defined on hierarchical ZnO microspheres (ZMS) via a controllable layer-by-layer self-assembly technique is demonstrated. The gradual growth of the characteristic absorption bands of Au loaded on ZnO in the visible light region with an increasing number of assemblies indicates the enhancement of the light harvesting ability of the ZMS/Au composites as well as the reproducibility and controllability of the entire assembly process. Results on the photoelectrochemical performance characterized by EIS and transient photocurrent response spectra indicate that the ZMS/Au composites possess increased photoinduced charge separation and transfer efficiency compared to the pure ZMS film. As a result, the hybrid composites exhibited enhanced decomposition activity for methylene blue and salicylic acid as well as antibacterial activity in killing S. aureus and E. coli under visible light irradiation. It can be noted that well-distributed Au components even at a rather low Au/ZnO weight ratio of ∼1.2% also exhibited extraordinary photocatalysis. Such a facile and controllable self-assembly approach may be viable for preparing high-performance visible-light-driven ZMS/Au photocatalysts in a simple and controllable way, and consequently, the technology may extend to other plasmon-enhanced heterostructures made of nanostructured semiconductors and noble metals for great potential application in environmental protection.

  14. Stability analysis and controller synthesis for hybrid dynamical systems.

    Science.gov (United States)

    Heemels, W P M H; De Schutter, B; Lunze, J; Lazar, M

    2010-11-13

    Wherever continuous and discrete dynamics interact, hybrid systems arise. This is especially the case in many technological systems in which logic decision-making and embedded control actions are combined with continuous physical processes. Also for many mechanical, biological, electrical and economical systems the use of hybrid models is essential to adequately describe their behaviour. To capture the evolution of these systems, mathematical models are needed that combine in one way or another the dynamics of the continuous parts of the system with the dynamics of the logic and discrete parts. These mathematical models come in all kinds of variations, but basically consist of some form of differential or difference equations on the one hand and automata or other discrete-event models on the other hand. The collection of analysis and synthesis techniques based on these models forms the research area of hybrid systems theory, which plays an important role in the multi-disciplinary design of many technological systems that surround us. This paper presents an overview from the perspective of the control community on modelling, analysis and control design for hybrid dynamical systems and surveys the major research lines in this appealing and lively research area.

  15. Methods for Reachability-based Hybrid Controller Design

    Science.gov (United States)

    2012-05-10

    reachability and safe sets computation for discrete time stochastic hybrid systems. In Proceedings of the 45th IEEE Conference on Decision and Control. San ...imperfect information. In Automata, Languages and Programming (S. Albers, A. Marchetti-Spaccamela, Y. Matias , S. Nikoletseas and W. Thomas, Eds.). Vol. 5556...in multi-player pursuit and evasion game. In Proceedings of the AIAA Conference on Guidance, Navigation and Control. San Francisco, CA. Jin, Z., Shima

  16. Design of novel hybrid control solar tracking system

    Science.gov (United States)

    Chao, Jiang; Wu, Zhu; Yun, Hu Yu; Xuan, Tu Yun; Yu, Wu Jun

    2017-06-01

    This paper describes a hybrid control solar tracking system consisted of sunlight gathering platform, mechanical structure and MCU controller system which is mainly based on time and light dependent resistors module. An adaptive calibration and operating algorithm are proposed to solve accumulated error for inaccuracy sun position model and servo system error of single axis solar tracking system, which can make the focused sunlight matching the solar evacuated tube well. The proposed system and algorithm effectively will improve the utilization of solar energy.

  17. Hybrid control of a truck and trailer vehicle

    OpenAIRE

    Altafini, Claudio; Speranzon, Alberto; Johansson, Karl Henrik

    2002-01-01

    A hybrid control scheme is proposed for the stabilization of backward driving along simple paths for a miniature vehicle composed of a truck and a two-axle trailer. When reversing, the truck and trailer can be modelled as an unstable nonlinear system with state and input saturations. Due to these constraints the system is impossible to globally stabilize with standard smooth control techniques, since some initial states necessarily lead to that the so called jack-knife locks between the truck...

  18. Engagement and Floor Control in Hybrid Meetings

    NARCIS (Netherlands)

    op den Akker, Hendrikus J.A.; Devanthéry, V.; Zwiers, Jakob; Hondorp, G.H.W.; van Dijk, Elisabeth M.A.G.; Kulyk, Olga Anatoliyivna; Hofs, D.H.W.; Nijholt, Antinus; Reidsma, Dennis

    2010-01-01

    The Human Media Interaction group of the University of Twente has developed a User Engagment and Floor Control Demonstrator, a system that uses modules for online speech recognition, real-time visual focus of attention as well as a module that signals who is being addressed by the speaker. A

  19. Controllable proximity effect in superconducting hybrid devices

    NARCIS (Netherlands)

    Bakurskiy, S.V.

    2015-01-01

    This thesis is devoted to the study of controllable proximity effects in superconductors, both in terms of fundamental aspects and applications. As a part of this thesis theoretical description was suggested for a number of structures with superconducting electrodes and multiple interlayers. These

  20. Correlation between Hierarchical Structure and Processing Control of Large-area Spray-coated Polymer Solar Cells toward High Performance

    Science.gov (United States)

    Huang, Yu-Ching; Tsao, Cheng-Si; Cha, Hou-Chin; Chuang, Chih-Min; Su, Chun-Jen; Jeng, U.-Ser; Chen, Charn-Ying

    2016-01-01

    The formation mechanism of a spray-coated film is different from that of a spin-coated film. This study employs grazing incidence small- and wide-angle X-ray Scattering (GISAXS and GIWAXS, respectively) quantitatively and systematically to investigate the hierarchical structure and phase-separated behavior of a spray-deposited blend film. The formation of PCBM clusters involves mutual interactions with both the P3HT crystal domains and droplet boundary. The processing control and the formed hierarchical structure of the active layer in the spray-coated polymer/fullerene blend film are compared to those in the spin-coated film. How the different post-treatments, such as thermal and solvent vapor annealing, tailor the hierarchical structure of the spray-coated films is quantitatively studied. Finally, the relationship between the processing control and tailored BHJ structures and the performance of polymer solar cell devices is established here, taking into account the evolution of the device area from 1 × 0.3 and 1 × 1 cm2. The formation and control of the special networks formed by the PCBM cluster and P3HT crystallites, respectively, are related to the droplet boundary. These structures are favorable for the transverse transport of electrons and holes.

  1. Hybrid Architecture Active Wavefront Sensing and Control

    Science.gov (United States)

    Feinberg, Lee; Dean, Bruce; Hyde, Tupper

    2010-01-01

    A method was developed for performing relatively high-speed wavefront sensing and control to overcome thermal instabilities in a segmented primary mirror telescope [e.g., James Webb Space Telescope (JWST) at L2], by using the onboard fine guidance sensor (FGS) to minimize expense and complexity. This FGS performs centroiding on a bright star to feed the information to the pointing and control system. The proposed concept is to beam split the image of the guide star (or use a single defocused guide star image) to perform wavefront sensing using phase retrieval techniques. Using the fine guidance sensor star image for guiding and fine phasing eliminates the need for other, more complex ways of achieving very accurate sensing and control that is needed for UV-optical applications. The phase retrieval occurs nearly constantly, so passive thermal stability over fourteen days is not required. Using the FGS as the sensor, one can feed segment update information to actuators on the primary mirror that can update the primary mirror segment fine phasing with this frequency. Because the thermal time constants of the primary mirror are very slow compared to this duration, the mirror will appear extremely stable during observations (to the level of accuracy of the sensing and control). The sensing can use the same phase retrieval techniques as the JWST by employing an additional beam splitter, and having each channel go through a weak lens (one positive and one negative). The channels can use common or separate detectors. Phase retrieval can be performed onboard. The actuation scheme would include a coarse stage able to achieve initial alignment of several millimeters of range (similar to JWST and can use a JWST heritage sensing approach in the science camera) and a fine stage capable of continual updates.

  2. Feedback controlled hybrid fast ferrite tuners

    Energy Technology Data Exchange (ETDEWEB)

    Remsen, D.B.; Phelps, D.A.; deGrassie, J.S.; Cary, W.P.; Pinsker, R.I.; Moeller, C.P. [General Atomics, San Diego, CA (United States); Arnold, W.; Martin, S.; Pivit, E. [ANT-Bosch, Backnang (Germany)

    1993-09-01

    A low power ANT-Bosch fast ferrite tuner (FFT) was successfully tested into (1) the lumped circuit equivalent of an antenna strap with dynamic plasma loading, and (2) a plasma loaded antenna strap in DIII-D. When the FFT accessible mismatch range was phase-shifted to encompass the plasma-induced variation in reflection coefficient, the 50 {Omega} source was matched (to within the desired 1.4 : 1 voltage standing wave ratio). The time required to achieve this match (i.e., the response time) was typically a few hundred milliseconds, mostly due to a relatively slow network analyzer-computer system. The response time for the active components of the FFT was 10 to 20 msec, or much faster than the present state-of-the-art for dynamic stub tuners. Future FFT tests are planned, that will utilize the DIII-D computer (capable of submillisecond feedback control), as well as several upgrades to the active control circuit, to produce a FFT feedback control system with a response time approaching 1 msec.

  3. Evaluation of the hierarchical control of distributed Energy Storage Systems in islanded Microgrids based on Std IEC/ISO 62264

    DEFF Research Database (Denmark)

    Palizban, Omid; Kauhaniemi, Kimmo; Guerrero, Josep M.

    2016-01-01

    In this paper, a decentralized control methodology based on hierarchical control levels is investigated. In recent years, efforts have been made to standardize microgrids (MGs), and the decentralized control method evaluated here is based on the IEC/ISO 62264 standard. Since the main challenge...... proportionally and directly proportionally, respectively, to the state of charge (SoC) of each battery unit during discharging and charging mode. To evaluate this decentralized method based on the IEC/ISO 62264 standard, PSCAD/EMTDC software is used....

  4. A multidisciplinary coupling relationship coordination algorithm using the hierarchical control methods of complex systems and its application in multidisciplinary design optimization

    OpenAIRE

    Rong Yuan; Haiqing Li

    2016-01-01

    Because of the increasing complexity in engineering systems, multidisciplinary design optimization has attracted increasing attention. High computational expense and organizational complexity are two main challenges of multidisciplinary design optimization. To address these challenges, the hierarchical control method of complex systems is developed in this study. Hierarchical control method is a powerful way which has been utilized widely in the control and coordination of large-scale complex...

  5. Controlled Fabrication of Flower-like Nickel Oxide Hierarchical Structures and Their Application in Water Treatment

    Directory of Open Access Journals (Sweden)

    Linxia Wang

    2012-01-01

    Full Text Available Flower-like NiO hierarchical structures with 2–5 μm diameter assembled from nanosheet building blocks have been successfully fabricated via a wet-chemical method combined with thermodecomposition technology. The template-free method is facile and effective in preparing flower-like NiO superstructures in high yield. The intermediate product and final hierarchical structures are characterized by transmission electron microscopy (TEM, scanning electron microscopy (SEM, X-ray diffraction (XRD, Fourier transform IR (FTIR, and thermogravimetric analysis (TGA. The effects of growth temperature and reaction time on the morphologies of the as-prepared structures were investigated by SEM characterization and a possible mechanism for the formation of flower-like NiO is proposed. Based on the nitrogen adsorption and desorption measurements, the BET surface area of the as-obtained sample is 55.7 m2/g and the pore-size distribution plot indicates a bimodal mesopore distribution, with pore sizes of ca. 2.6 nm and 7.4 nm, respectively. In comparison with sphere-like and rod-like structures, the flower-like NiO hierarchical structures show an excellent ability to rapidly remove various pollutants when used as adsorbent and photocatalyst in waste-water treatment, which may be attributed to its unique hierarchical and porous surface structures.

  6. Hybrid viscous damper with filtered integral force feedback control

    DEFF Research Database (Denmark)

    Høgsberg, Jan; Brodersen, Mark L.

    2016-01-01

    In hybrid damper systems active control devices are usually introduced to enhance the performance of otherwise passive dampers. In the present paper a hybrid damper concept is comprised of a passive viscous damper placed in series with an active actuator and a force sensor. The actuator motion...... is controlled by a filtered integral force feedback strategy, where the main feature is the filter, which is designed to render a damper force that in a phase-plane representation operates in front of the corresponding damper velocity. It is demonstrated that in the specific parameter regime where the damper...... force leads velocity the control is stable and yields a significant improvement in damping performance compared to the pure viscous damper....

  7. Preliminary studies on chemical weed control in eucalyptus (hybrid) nursery

    Energy Technology Data Exchange (ETDEWEB)

    Rao, N.S.; Desappa; Singh, C.D.

    1985-12-01

    Weeds adversely affect the germination and growth of seedlings in the Eucalyptus hybrid nursery beds. Manual weeding which is generally followed is time consuming, difficult and less effective. In order to overcome this problem a study was undertaken for effective control of weeds in Eucalyptus hybrid nursery by means of preemergence weedicides viz. Baseline (profluralin), Pendimethaline (Stemp 30 EC), Ronster (Oxadiazen) and Simazine. They were applied to nursery beds as pre-emergence spray, at 1.5, 1.5, 0.5 and 1 kg/ha respectively. Basalin was most effective in controlling both dicot and monocot weeks followed by pendimethaline and Ronster. Simazine was lethal to both Eucalyptus and weed seed germination. Seedling of Eucalyptus in Basalin treated plots were more in number (153/sq ft.), taller (24 cm) and healthier compared to other weedicide treatments. Maximum number of dicot and monocot weeds were found in control plot, consequently, seedling growth was very much suppressed. The studies indicated that preemergence chemical weedicides could be effectively used to control nursery weeds and that Basalin weedicide is more effective in controlling both dicot and monocot weeds and appear to be a suitable chemical weedicide for Eucalyptus hybrid nurseries. 8 references, 3 tables.

  8. Photoresponsive lipid-polymer hybrid nanoparticles for controlled doxorubicin release

    Science.gov (United States)

    Yao, Cuiping; Wu, Ming; Zhang, Cecheng; Lin, Xinyi; Wei, Zuwu; Zheng, Youshi; Zhang, Da; Zhang, Zhenxi; Liu, Xiaolong

    2017-06-01

    Currently, photoresponsive nanomaterials are particularly attractive due to their spatial and temporal controlled drug release abilities. In this work, we report a photoresponsive lipid-polymer hybrid nanoparticle for remote controlled delivery of anticancer drugs. This hybrid nanoparticle comprises three distinct functional components: (i) a poly(D,L-lactide-co-glycolide) (PLGA) core to encapsulate doxorubicin; (ii) a soybean lecithin monolayer at the interface of the core and shell to act as a molecular fence to prevent drug leakage; (iii) a photoresponsive polymeric shell with anti-biofouling properties to enhance nanoparticle stability, which could be detached from the nanoparticle to trigger the drug release via a decrease in the nanoparticle’s stability under light irradiation. In vitro results revealed that this core-shell nanoparticle had excellent light-controlled drug release behavior (76% release with light irradiation versus 10% release without light irradiation). The confocal microscopy and flow cytometry results also further demonstrated the light-controlled drug release behavior inside the cancer cells. Furthermore, a CCK8 assay demonstrated that light irradiation could significantly improve the efficiency of killing cancer cells. Meanwhile, whole-animal fluorescence imaging of a tumor-bearing mouse also confirmed that light irradiation could trigger drug release in vivo. Taken together, our data suggested that a hybrid nanoparticle could be a novel light controlled drug delivery system for cancer therapy.

  9. Backstepping and sliding mode control hybridized for a prosthetic hand.

    Science.gov (United States)

    Engeberg, Erik D; Meek, Sanford G

    2009-02-01

    Open loop and force controllers are compared experimentally with three robust parallel force-velocity controllers that are developed for a prosthetic hand. Robust sliding mode, backstepping, and hybrid sliding mode-backstepping (HSMBS) parallel force-velocity controllers are tested by ten able-bodied subjects. Results obtained with a myoelectrically controlled prosthesis indicate that all three robust controllers offer a statistically significant improvement over linear hand prosthesis control schemes. The robust controllers enable the human operators to more easily manipulate a delicate object. Bench top experiments combined with quantitative and qualitative evaluations from ten test subjects reveal the HSMBS controller to be the best choice to improve control of powered prosthetic hands.

  10. Nonholonomic Mobile Robot Trajectory Tracking using Hybrid Controller

    Directory of Open Access Journals (Sweden)

    Muhammad Safwan

    2016-04-01

    Full Text Available A control scheme is being presented for the trajectory tracking of a nonholonomic kinematic model of mobile robots. As a kinematic model of mobile robots is nonlinear in nature, therefore, it is controlling is always being a difficult task. Thus, a control hybrid scheme comprises of fuzzy logic and PID (Proportional Integral Derivative is being proposed, in which adaptive gains of PID controller is being tuned by a fuzzy logic controller. Moreover, the effectiveness of this innovative technique is also proved using the simulations by adding model uncertainties and external disturbances in the system. Besides, the fuzzy logic control system is also being compared by the proposed control system. Resultsattained shows that the fuzzy based PID controller drivesimproved results than fuzzy logic controller.

  11. Dynamic modeling and hierarchical compound control of a novel 2-DOF flexible parallel manipulator with multiple actuation modes

    Science.gov (United States)

    Liang, Dong; Song, Yimin; Sun, Tao; Jin, Xueying

    2018-03-01

    This paper addresses the problem of rigid-flexible coupling dynamic modeling and active control of a novel flexible parallel manipulator (PM) with multiple actuation modes. Firstly, based on the flexible multi-body dynamics theory, the rigid-flexible coupling dynamic model (RFDM) of system is developed by virtue of the augmented Lagrangian multipliers approach. For completeness, the mathematical models of permanent magnet synchronous motor (PMSM) and piezoelectric transducer (PZT) are further established and integrated with the RFDM of mechanical system to formulate the electromechanical coupling dynamic model (ECDM). To achieve the trajectory tracking and vibration suppression, a hierarchical compound control strategy is presented. Within this control strategy, the proportional-differential (PD) feedback controller is employed to realize the trajectory tracking of end-effector, while the strain and strain rate feedback (SSRF) controller is developed to restrain the vibration of the flexible links using PZT. Furthermore, the stability of the control algorithm is demonstrated based on the Lyapunov stability theory. Finally, two simulation case studies are performed to illustrate the effectiveness of the proposed approach. The results indicate that, under the redundant actuation mode, the hierarchical compound control strategy can guarantee the flexible PM achieves singularity-free motion and vibration attenuation within task workspace simultaneously. The systematic methodology proposed in this study can be conveniently extended for the dynamic modeling and efficient controller design of other flexible PMs, especially the emerging ones with multiple actuation modes.

  12. Spatial hierarchical geomorphic controls on salmonid spawning habitat: using geomorphic parameters to set ecological status targets

    Science.gov (United States)

    Moir, H. J.

    2009-12-01

    To set river restoration targets or identifying ‘reference condition’ benchmarks, the ‘ecological status’ of river systems is often subjectively based on how humans perceive a non-impacted river should look. Rarely are these objectives based on an explicit understanding of how physical conditions provide the habitats required by instream biota to optimally complete their life cycles. Furthermore, although much research acknowledges the spatial hierarchical physical controls on instream habitats, there is little attempt to integrate across scales while explicitly linking key aspects of instream ecology to geomorphic form and process. This paper describes the physical controls on salmon (Atlantic and Chinook) spawning habitat across a range of spatial scales (basin - reach - meso - micro). Over the past five decades much work has been conducted describing the micro-habitat (typically depth, velocity and substrate) of spawning salmonids. However, this not accounted for the implicit inter-relationships between these basic habitat variables in rivers. It is demonstrated that the specific micro-scale physical conditions selected by salmonids reflect the intersection of biotic requirements with geomorphic processes that produce specific joint hydraulic-sedimentary patterns. At the next, meso-scale, different morphological units (e.g. pools, riffles) provide contrasting joint hydraulic and sedimentary relationships that intersect to varying degrees with micro-habitat requirements, producing unit types that are used more or less frequently. Morphology also exerts a strong control on the distribution of hydraulics across a meso-scale unit under varying flow. Thus, some morphologies provide more ‘stable’ habitat conditions as discharge changes. Furthermore, the proximity of spawning units to other units that provide adult holding/ resting habitat (e.g. pools) is also shown to be an important meso-scale control. Over longer time scales, prevailing fluvial forces

  13. Complexity, Robustness, and Multistability in Network Systems with Switching Topologies: A Hierarchical Hybrid Control Approach

    Science.gov (United States)

    2015-05-22

    successfully intercept a vehicle which is faster than its chasers. Alternatively, a UAV formation equipped with interferometic synthetic aperture radar...rotating machinery with mass imbalance, spin stabilization about a nonprincipal axis of inertia requires motion stabilization with respect to a subspace

  14. Active Vibration Control of Plate Partly Treated with ACLD Using Hybrid Control

    Directory of Open Access Journals (Sweden)

    Dongdong Zhang

    2014-01-01

    Full Text Available A finite element model of plate partly treated with ACLD treatments is developed based on the constitutive equations of elastic, piezoelectric, viscoelastic materials and Hamilton’s principle. The Golla-Hughes-Mctavish (GHM method is employed to describe the frequency-dependent characteristics of viscoelastic material (VEM. A model reduction is completed by using iterative dynamic condensation and balance model reduction method to design an effective control system. The emphasis is concerned on hybrid (combined feedback/feedforward control system to attenuate the vibration of plates with ACLD treatments. The optimal linear quadratic Gaussian (LQG controller is considered as a feedback channel and the adaptive filtered-reference LMS (FxLMS controller is used as a feedforward channel. They can be utilized individually or in a hybrid way to suppress the vibration of plate/ACLD system. The results show that the hybrid controller which combines feedback/feedforward together can reduce the displacement amplitude of plate/ACLD system subjected to a complicated disturbance substantially without requiring more control effort. Furthermore, the hybrid controller has more rapid and stable convergence rate than the adaptive feedforward FxLMS controller. Meanwhile, perfect robustness to phase error of the cancellation path in feedforward controller and the weight matrices in feedback LQG controller is demonstrated in proposed hybrid controller. Therefore, its application in structural engineering can be highly appreciated.

  15. On the optimal control of mechanical systems - hybrid control strategies and hybrid dynamics

    OpenAIRE

    Flaßkamp, Kathrin

    2014-01-01

    In den Ingenieur- und Naturwissenschaften treten häufig Optimalsteuerungsprobleme für mechanische Systeme auf, beispielsweise in der Robotik, der Biomechanik, in Fahrzeugsystemen oder im Design von Weltraummissionen. Das jeweilige Ziel ist es, das dynamische Verhalten des Systems mittels seiner Steuerungseingänge so zu beeinflussen, dass eine Aufgabe optimal erfüllt wird. In komplexen technischen Systemen führt eine adäquate Modellierung zu hybriden dynamischen Systemen. Hybride Steuerungsstr...

  16. Design and control of hybrid active power filters

    CERN Document Server

    Lam, Chi-Seng

    2014-01-01

    Design and Control of Hybrid Active Power Filters presents an overview of the current quality problems and their compensators. To get a balance between the system cost and performance, hybrid active power filters (HAPFs) are valuable. The book presents the coverage of resonance phenomena prevention capability, filtering performance and system robustness analysis of HAPF; nonlinear inverter current slope characteristics and their linear operation region requirement analysis of the hysteresis PWM for the HAPF; minimum inverter capacity design procedure of HAPF, adaptive dc-link voltage controller for the HAPF and the real design example of a 220V 10kVA HAPF, in which the system performance analysis method, minimum dc voltage deduction concept and adaptive dc voltage idea can be further extended into the other active compensators, such as APF, static synchronous compensator STATCOM, etc. This book will benefit researchers, graduate students, and electrical power engineers in the field of power-quality compensati...

  17. Design of a hybrid laminar flow control nacelle

    Science.gov (United States)

    Wie, Yong-Sun; Collier, Fayette S., Jr.; Wagner, Richard D.; Viken, Jeffery K.; Pfenninger, Werner

    1992-01-01

    Consideration is given to the potential application of hybrid-laminar-flow control to the external surface of a modern, high-bypass-ratio (HBR) turbofan engine nacelle. With the advent of advanced ultra-HBR fans (with bypass ratios of 10-15), the wetted areas of these nacelles approach 10 percent of the total wetted area of future commercial transports. A hybrid-laminar-flow-control pressure distribution is specified and the corresponding nacelle geometry is computed utilizing a predictor/corrector design method. Linear stability calculations are conducted to provide predictions of the extent of the laminar boundary layer. Performance studies on an advanced twin-engine transport configuration are presented to determine potential benefits in terms of reduced fuel consumption.

  18. Hybrid Engine Powered City Car: Fuzzy Controlled Approach

    Science.gov (United States)

    Rahman, Ataur; Mohiuddin, AKM; Hawlader, MNA; Ihsan, Sany

    2017-03-01

    This study describes a fuzzy controlled hybrid engine powered car. The car is powered by the lithium ion battery capacity of 1000 Wh is charged by the 50 cc hybrid engine and power regenerative mode. The engine is operated with lean mixture at 3000 rpm to charge the battery. The regenerative mode that connects with the engine generates electrical power of 500-600 W for the deceleration of car from 90 km/h to 20 km/h. The regenerated electrical power has been used to power the air-conditioning system and to meet the other electrical power. The battery power only used to propel the car. The regenerative power also found charging the battery for longer operation about 40 minutes and more. The design flexibility of this vehicle starts with whole-vehicle integration based on radical light weighting, drag reduction, and accessory efficiency. The energy efficient hybrid engine cut carbon dioxide (CO2) and nitrogen oxides (N2O) emission about 70-80% as the loads on the crankshaft such as cam-follower and its associated rotating components are replaced by electromagnetic systems, and the flywheel, alternator and starter motor are replaced by a motor generator. The vehicle was tested and found that it was able to travel 70 km/litre with the power of hybrid engine.

  19. Stabilization of Finite Automata with Application to Hybrid Systems Control

    OpenAIRE

    Kobayashi, Koichi; Imura, Jun-ichi; Hiraishi, Kunihiko

    2011-01-01

    This paper discusses the state feedback stabilization problem of a deterministic finite automaton (DFA), and its application to stabilizing model predictive control (MPC) of hybrid systems. In the modeling of a DFA, a linear state equation representation recently proposed by the authors is used. First, this representation is briefly explained. Next, after the notion of equilibrium points and stabilizability of the DFA are defined, a necessary and sufficient condition for the DFA to be stabili...

  20. Application of hierarchical dissociated neural network in closed-loop hybrid system integrating biological and mechanical intelligence.

    Directory of Open Access Journals (Sweden)

    Yongcheng Li

    Full Text Available Neural networks are considered the origin of intelligence in organisms. In this paper, a new design of an intelligent system merging biological intelligence with artificial intelligence was created. It was based on a neural controller bidirectionally connected to an actual mobile robot to implement a novel vehicle. Two types of experimental preparations were utilized as the neural controller including 'random' and '4Q' (cultured neurons artificially divided into four interconnected parts neural network. Compared to the random cultures, the '4Q' cultures presented absolutely different activities, and the robot controlled by the '4Q' network presented better capabilities in search tasks. Our results showed that neural cultures could be successfully employed to control an artificial agent; the robot performed better and better with the stimulus because of the short-term plasticity. A new framework is provided to investigate the bidirectional biological-artificial interface and develop new strategies for a future intelligent system using these simplified model systems.

  1. Application of hierarchical dissociated neural network in closed-loop hybrid system integrating biological and mechanical intelligence.

    Science.gov (United States)

    Li, Yongcheng; Sun, Rong; Zhang, Bin; Wang, Yuechao; Li, Hongyi

    2015-01-01

    Neural networks are considered the origin of intelligence in organisms. In this paper, a new design of an intelligent system merging biological intelligence with artificial intelligence was created. It was based on a neural controller bidirectionally connected to an actual mobile robot to implement a novel vehicle. Two types of experimental preparations were utilized as the neural controller including 'random' and '4Q' (cultured neurons artificially divided into four interconnected parts) neural network. Compared to the random cultures, the '4Q' cultures presented absolutely different activities, and the robot controlled by the '4Q' network presented better capabilities in search tasks. Our results showed that neural cultures could be successfully employed to control an artificial agent; the robot performed better and better with the stimulus because of the short-term plasticity. A new framework is provided to investigate the bidirectional biological-artificial interface and develop new strategies for a future intelligent system using these simplified model systems.

  2. Creating Hierarchical Pores by Controlled Linker Thermolysis in Multivariate Metal-Organic Frameworks

    KAUST Repository

    Feng, Liang

    2018-01-18

    Sufficient pore size, appropriate stability and hierarchical porosity are three prerequisites for open frameworks designed for drug delivery, enzyme immobilization and catalysis involving large molecules. Herein, we report a powerful and general strate-gy, linker thermolysis, to construct ultra-stable hierarchically porous metal−organic frameworks (HP-MOFs) with tunable pore size distribution. Linker instability, usually an undesirable trait of MOFs, was exploited to create mesopores by generating crystal defects throughout a microporous MOF crystal via thermolysis. The crystallinity and stability of HP-MOFs remain after thermolabile linkers are selectively removed from multivariate metal-organic frameworks (MTV-MOFs) through a decarboxyla-tion process. A domain-based linker spatial distribution was found to be critical for creating hierarchical pores inside MTV-MOFs. Furthermore, linker thermolysis promotes the formation of ultra-small metal oxide (MO) nanoparticles immobilized in an open framework that exhibits high catalytic activity for Lewis acid catalyzed reactions. Most importantly, this work pro-vides fresh insights into the connection between linker apportionment and vacancy distribution, which may shed light on prob-ing the disordered linker apportionment in multivariate systems, a long-standing challenge in the study of MTV-MOFs.

  3. Aqueous synthesis and growth of morphologically controllable, hierarchical Ni(OH)2 nanostructures

    Science.gov (United States)

    Li, Weihong; Yang, Jieyi; Isimjan, Tayirjan T.; Yang, De-Quan; Sacher, Edward

    2015-07-01

    We report a simple route for the synthesis of several morphologies of self-assembling hierarchical Ni(OH)2 nanostructures, by the reaction of NiSO4 and NH4OH in aqueous solution, at a constant temperature, using neither surfactant nor template. Both morphology and microstructure depend on the concentrations of the reactants, the reaction temperature and the anions (Cl-, .., {{{{NO}}}3}- and {{{{SO}}}4}2-) present. The nanostructures have been characterized by scanning electron microscopy (SEM) and x-ray diffraction (XRD). When {{{{SO}}}4}2- is used, irrespective of the presence of other anions, only microspheres of hierarchical Ni(OH)2 nanosheets are present, suggesting that this anion plays a critical role in microsphere formation. Electrochemical characterizations of Ni(OH)2 nanosheets show good supercapacitor performance, with relatively high capacity and excellent rate capability, indicating that these hierarchical Ni(OH)2 nanosheets are serious candidates for energy storage applications. The growth mechanism for nanosheet formation is discussed, based on SEM observations under different preparation conditions, detailing the transition from nanoparticles to nanowires to nanosheets. The specific surface area and the thickness of our Ni(OH)2 nanosheets have been determined to be 149.6 m2 g-1 and 20-30 nm, respectively.

  4. Master–Slave Based Hierarchical Control for a Small Power DC-Distributed Microgrid System with a Storage Device

    Directory of Open Access Journals (Sweden)

    Seung-Woon Lee

    2016-10-01

    Full Text Available In this paper, we analyze one of the main drawbacks of droop control-based DC microgrid systems, and propose a novel control method to overcome this problem. Typically, DC microgrid systems use droop control techniques to enable communication independency and expandability. However, as these advantages are based on bus quality and regulation abandonment, droop-based schemes have limitations in terms of high bus impedance and bus regulation. This paper proposes a novel master–slave based hierarchical control technique for a DC distribution system, in which a DC bus signaling method is used to overcome the communication dependency and the expandability limitations of conventional master–slave control methods. The concept and design considerations of the proposed control method are presented, and a 1 kW simulation under a Powersim (PSIM environment and hardware prototype—built to verify the system—is described.

  5. Morphology-controlled hydrothermal synthesis of MnCO{sub 3} hierarchical superstructures with Schiff base as stabilizer

    Energy Technology Data Exchange (ETDEWEB)

    Hu, He; Xu, Jie-yan; Yang, Hong; Liang, Jie [Department of Chemistry, Shanghai Normal University, No. 100, Guilin Road, Shanghai 200234 (China); Yang, Shiping, E-mail: shipingy@shnu.edu.cn [Department of Chemistry, Shanghai Normal University, No. 100, Guilin Road, Shanghai 200234 (China); Wu, Huixia [Department of Chemistry, Shanghai Normal University, No. 100, Guilin Road, Shanghai 200234 (China)

    2011-11-15

    Graphical abstract: MnCO3 microcrystals with hierarchical superstructures were synthesized by using the CO2 in atmosphere as carbonate ions source and Schiff base as shape guiding-agent in water/ethanol system under hydrothermal condition. Highlights: {yields} The most interesting in this work is the use of the greenhouse gases CO{sub 2} in atmosphere as carbonate ions source to precipitate with Mn{sup 2+} for producing MnCO{sub 3} crystals. {yields} This work is the first report related to the small organic molecule Schiff base as shape guiding-agent to produce different MnCO{sub 3} hierarchical superstructures. {yields} We are controllable synthesis of the MnCO{sub 3} hierarchical superstructures such as chrysanthemum, straw-bundle, dumbbell and sphere-like microcrystals. {yields} The as-prepared MnCO{sub 3} could be used precursor to fabricate the Mn{sub 2}O{sub 3} hierarchical superstructures after thermal decomposition at high temperature. -- Abstract: MnCO{sub 3} with hierarchical superstructures such as chrysanthemum, straw-bundle, dumbbell and sphere-like were synthesized in water/ethanol system under environment-friendly hydrothermal condition. In the synthesis process, the CO{sub 2} in atmosphere was used as the source of carbonate ions and Schiff base was used as shape guiding-agent. The different superstructures of MnCO{sub 3} could be obtained by controlling the hydrothermal temperature, the molar ratio of manganous ions to the Schiff base, or the volume ratio of water to ethanol. A tentative growth mechanism for the generation of MnCO{sub 3} superstructures was proposed based on the rod-dumbbell-sphere model. Furthermore, the MnCO{sub 3} as precursor could be further successfully transferred to Mn{sub 2}O{sub 3} microstructure after heating in the atmosphere at 500 {sup o}C, and the morphology of the Mn{sub 2}O{sub 3} was directly determined by that of the MnCO{sub 3} precursor.

  6. Hierarchical Control Design for Shipboard Power System with DC Distribution and Energy Storage aboard Future More-Electric Ships

    DEFF Research Database (Denmark)

    Jin, Zheming; Meng, Lexuan; Guerrero, Josep M.

    2018-01-01

    DC distribution is now becoming the major trend of future mobile power systems, such as more-electric aircrafts and ships. As DC distribution has different nature to conventional AC system, new design of well-structured control and management methods will be mandatory. In this paper, shipboard...... power system (SPS) with DC distribution and energy storage system (ESS) is picked as study case. To meet the requirement of control and management of such a large-scale mobile power system, a hierarchical control design is proposed in this paper. In order to fully exploit the benefit of ESS, as well...... energy storage system (HESS) and its autonomous operation. On the basis of the proposed methods, the control methods for management and voltage restoration levels are also proposed to establish a comprehensive control solution. Real-time simulations are carried out to validate the performance of proposed...

  7. Electric and hybrid vehicles environmental control subsystem study

    Science.gov (United States)

    1981-01-01

    An environmental control subsystem (ECS) in the passenger compartment of electric and hybrid vehicles is studied. Various methods of obtaining the desired temperature control for the battery pack is also studied. The functional requirements of ECS equipment is defined. Following categorization by methodology, technology availability and risk, all viable ECS concepts are evaluated. Each is assessed independently for benefits versus risk, as well as for its feasibility to short, intermediate and long term product development. Selection of the preferred concept is made against these requirements, as well as the study's major goal of providing safe, highly efficient and thermally confortable ECS equipment.

  8. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    2003-01-01

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking...... feedback control law based on dynamic feedback linearization is sufficient to stabilize the system and ensure asymptotically stable tracking. Transitions to other modes are derived systematically from this model, whenever the configuration space of the controlled system has some fundamental singular points...

  9. Controlled manipulation of giant hybrid inorganic nanowire assemblies.

    Science.gov (United States)

    Ou, Fung Suong; Shaijumon, Manikoth M; Ajayan, Pulickel M

    2008-07-01

    The ultimate goal of nanotechnology is the design and fabrication of nanosize building blocks with multiple functionalities and their assembly into large-scale functional structures that can be controllably manipulated. Here we show that hybrid inorganic multisegmented nanowires, with hydrophobic carbon nanotube tails and hydrophilic metal nanowire heads, allow the assembly and manipulation of massive ordered structures in solution, reminiscent of the organic molecular micellar assembly. Further, properly designed assemblies can be manipulated using external stimuli such as magnetic field and light. The hybrid nanowires can have multiple segments including magnetic components, allowing the assembly to be manipulated by external magnetic field. The assembled structures can also be manipulated by modifying the hydrophobicity of the respective components via chemical functionalization and optical irradiation. This approach brings the concept of environment sensitive self-assembling nanomaterials closer to reality.

  10. A hybrid joint based controller for an upper extremity exoskeleton

    Science.gov (United States)

    Mohd Khairuddin, Ismail; Taha, Zahari; Majeed, Anwar P. P. Abdul; Hakeem Deboucha, Abdel; Azraai Mohd Razman, Mohd; Aziz Jaafar, Abdul; Mohamed, Zulkifli

    2016-02-01

    This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton. The Euler-Lagrange formulation was used in deriving the dynamic modelling of both the human upper limb as well as the exoskeleton that consists of the upper arm and the forearm. The human model is based on anthropometrical measurements of the upper limb. The proportional-derivative (PD) computed torque control (CTC) architecture is employed in this study to investigate its efficacy performing joint-space control objectives specifically in rehabilitating the elbow and shoulder joints along the sagittal plane. An active force control (AFC) algorithm is also incorporated into the PD-CTC to investigate the effectiveness of this hybrid system in compensating disturbances. It was found that the AFC- PD-CTC performs well against the disturbances introduced into the system whilst achieving acceptable trajectory tracking as compared to the conventional PD-CTC control architecture.

  11. Control Valve Trajectories for SOFC Hybrid System Startup

    Energy Technology Data Exchange (ETDEWEB)

    Gorrell, Megan; Banta, Larry; Rosen, William; Restrepo, Bernardo; Tucker, David

    2012-07-01

    Control and management of cathode airflow in a solid oxide fuel cell gas turbine hybrid power system was analyzed using the Hybrid Performance (HyPer) hardware simulation at the National Energy Technology (NETL), U.S. Department of Energy. This work delves into previously unexplored operating practices for HyPer, via simultaneous manipulation of bypass valves and the electric load on the generator. The work is preparatory to the development of a Multi-Input, Multi-Output (MIMO) controller for HyPer. A factorial design of experiments was conducted to acquire data for 81 different combinations of the manipulated variables, which consisted of three air flow control valves and the electric load on the turbine generator. From this data the response surface for the cathode airflow with respect to bypass valve positions was analyzed. Of particular interest is the control of airflow through the cathode during system startup and during large load swings. This paper presents an algorithm for controlling air mass flow through the cathode based on a modification of the steepest ascent method.

  12. Automation of control and analysis of execution of official duties and instructions in the hierarchical organization

    Directory of Open Access Journals (Sweden)

    Demchenko A.I.

    2017-01-01

    Full Text Available The article considers the problem of monitoring over execution of official duties of employees. This problem is characteristic of the enterprises having a hierarchical management structure. The functions and the modes of monitoring are defined, the types of analysis of the staff activities are provided. The description of the program complex allowing distributing functions and instructions for between the employees is given. The developed computer program allows tracking the performance, creating reports. The computer program has a demarcation of access rights and provides the can be operated in both local, and a large-scale network.

  13. On-Electrode Synthesis of Shape-Controlled Hierarchical Flower-Like Gold Nanostructures for Efficient Interfacial DNA Assembly and Sensitive Electrochemical Sensing of MicroRNA.

    Science.gov (United States)

    Su, Shao; Wu, Yan; Zhu, Dan; Chao, Jie; Liu, Xingfen; Wan, Ying; Su, Yan; Zuo, Xiaolei; Fan, Chunhai; Wang, Lianhui

    2016-07-01

    The performance for biomolecular detection is closely associated with the interfacial structure of a biosensor, which profoundly affects both thermodynamics and kinetics of the assembly, binding and signal transduction of biomolecules. Herein, it is reported on a one-step and template-free on-electrode synthesis method for making shape-controlled gold nanostructures on indium tin oxide substrates, which provide an electrochemical sensing platform for ultrasensitive detection of nucleic acids. Thus-prepared hierarchical flower-like gold nanostructures (HFGNs) possess large surface area that can readily accommodate the assembly of DNA probes for subsequent hybridization detection. It is found that the sensitivity for electrochemical DNA sensing is critically dependent on the morphology of HFGNs. By using this new strategy, a highly sensitive electrochemical biosensor is developed for label-free detection of microRNA-21 (miRNA-21), a biomarker for lung cancers. Importantly, it is demonstrated that this biosensor can be employed to measure the miRNA-21 expression level from human lung cancer cell (A549) lysates and worked well in 100% serum, suggesting its potential for applications in clinical diagnosis and a wide range of bioanalysis. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  14. A Hybrid Flight Control for a Simulated Raptor-30 V2 Helicopter

    Directory of Open Access Journals (Sweden)

    Arbab Nighat Khizer

    2015-04-01

    Full Text Available This paper presents a hybrid flight control system for a single rotor simulated Raptor-30 V2 helicopter. Hybrid intelligent control system, combination of the conventional and intelligent control methodologies, is applied to small model helicopter. The proposed hybrid control used PID as a traditional control and fuzzy as an intelligent control so as to take the maximum advantage of advanced control theory. The helicopter?s model used; comes from X-Plane flight simulator and their hybrid flight control system was simulated using MATLAB/SIMULINK in a simulation platform. X-Plane is also used to visualize the performance of this proposed autopilot design. Through a series of numerous experiments, the operation of hybrid control system was investigated. Results verified that the proposed hybrid control has an excellent performance at hovering flight mode.

  15. Parameter Estimation Analysis for Hybrid Adaptive Fault Tolerant Control

    Science.gov (United States)

    Eshak, Peter B.

    Research efforts have increased in recent years toward the development of intelligent fault tolerant control laws, which are capable of helping the pilot to safely maintain aircraft control at post failure conditions. Researchers at West Virginia University (WVU) have been actively involved in the development of fault tolerant adaptive control laws in all three major categories: direct, indirect, and hybrid. The first implemented design to provide adaptation was a direct adaptive controller, which used artificial neural networks to generate augmentation commands in order to reduce the modeling error. Indirect adaptive laws were implemented in another controller, which utilized online PID to estimate and update the controller parameter. Finally, a new controller design was introduced, which integrated both direct and indirect control laws. This controller is known as hybrid adaptive controller. This last control design outperformed the two earlier designs in terms of less NNs effort and better tracking quality. The performance of online PID has an important role in the quality of the hybrid controller; therefore, the quality of the estimation will be of a great importance. Unfortunately, PID is not perfect and the online estimation process has some inherited issues; the online PID estimates are primarily affected by delays and biases. In order to ensure updating reliable estimates to the controller, the estimator consumes some time to converge. Moreover, the estimator will often converge to a biased value. This thesis conducts a sensitivity analysis for the estimation issues, delay and bias, and their effect on the tracking quality. In addition, the performance of the hybrid controller as compared to direct adaptive controller is explored. In order to serve this purpose, a simulation environment in MATLAB/SIMULINK has been created. The simulation environment is customized to provide the user with the flexibility to add different combinations of biases and delays to

  16. Designing hybrid grass genomes to control runoff generation

    Science.gov (United States)

    MacLeod, C.; Binley, A.; Humphreys, M.; King, I. P.; O'Donovan, S.; Papadopoulos, A.; Turner, L. B.; Watts, C.; Whalley, W. R.; Haygarth, P.

    2010-12-01

    Sustainable management of water in landscapes requires balancing demands of agricultural production whilst moderating downstream effects like flooding. Pasture comprises 69% of global agricultural areas and is essential for producing food and fibre alongside environmental goods and services. Thus there is a need to breed forage grasses that deliver multiple benefits through increased levels of productivity whilst moderating fluxes of water. Here we show that a novel grass hybrid that combines the entire genomes of perennial ryegrass (Lolium perenne - the grass of choice for Europe’s forage agriculture) and meadow fescue (Festuca pratensis) has a significant role in flood prevention. Field plot experiments established differences in runoff generation with the hybrid cultivar reducing runoff by 50% compared to perennial ryegrass cultivar, and by 35% compared to a meadow fescue cultivar (34 events over two years, replicated randomized-block design, statistically significant differences). This important research outcome was the result of a project that combined plant genetics, soil physics and plot scale hydrology to identify novel grass genotypes that can reduce runoff from grassland systems. Through a coordinated series of experiments examining effects from the gene to plot scale, we have identified that the rapid growth and then turnover of roots in the L. perenne x F. pratensis hybrid is likely to be a key mechanism in reducing runoff generation. More broadly this is an exciting first step to realizing the potential to design grass genomes to achieve both food production, and to deliver flood control, a key ecosystem service.

  17. Optimal Control of Engine Warmup in Hybrid Vehicles

    Directory of Open Access Journals (Sweden)

    van Reeven Vital

    2016-01-01

    Full Text Available An Internal Combustion Engine (ICE under cold conditions experiences increased friction losses due to a high viscosity of the lubricant. With the additional control freedom present in hybrid electric vehicles, the losses during warmup can be minimized and fuel can be saved. In this paper, firstly, a control-oriented model of the ICE, describing the warmup behavior, is developed and validated on measured vehicle data. Secondly, the two-state, non-autonomous fuel optimization, for a parallel hybrid electric vehicle with stop-start functionality, is solved using optimal control theory. The principal behavior of the Lagrange multipliers is explicitly derived, including the discontinuities (jumps that are caused by the constraints on the lubricant temperature and the energy in the battery system. The minimization of the Hamiltonian for this two-state problem is also explicitly solved, resulting in a computationally efficient algorithm. The optimal controller shows the fuel benefit, as a function of the initial temperature, for a long-haul truck simulated on the FTP-75.

  18. Hybrid Quantum-Classical Approach to Quantum Optimal Control.

    Science.gov (United States)

    Li, Jun; Yang, Xiaodong; Peng, Xinhua; Sun, Chang-Pu

    2017-04-14

    A central challenge in quantum computing is to identify more computational problems for which utilization of quantum resources can offer significant speedup. Here, we propose a hybrid quantum-classical scheme to tackle the quantum optimal control problem. We show that the most computationally demanding part of gradient-based algorithms, namely, computing the fitness function and its gradient for a control input, can be accomplished by the process of evolution and measurement on a quantum simulator. By posing queries to and receiving answers from the quantum simulator, classical computing devices update the control parameters until an optimal control solution is found. To demonstrate the quantum-classical scheme in experiment, we use a seven-qubit nuclear magnetic resonance system, on which we have succeeded in optimizing state preparation without involving classical computation of the large Hilbert space evolution.

  19. Path Planning and Trajectory Control of Collaborative Mobile Robots Using Hybrid Control Architecture

    Directory of Open Access Journals (Sweden)

    Trevor Davies

    2008-08-01

    Full Text Available This paper presents the development and implementation a hybrid control architecture to direct a collective of three X80 mobile robots to multiple user-defined waypoints. The Genetic Algorithm Path Planner created an optimized, reduction in the time to complete the task, path plan for each robot in the collective such that each waypoint was visited once without colliding with a priori obstacles. The deliberative Genetic Algorithm Path Planner was then coupled with a reactive Potential Field Trajectory Planner and kinematic based controller to create a hybrid control architecture allowing the mobile robot to navigate between multiple user-defined waypoints, while avoiding a priori obstacles and obstacles detected using the robots' range sensors. The success of this hybrid control architecture was proven through simulation and experimentation using three of Dr. Robot's ™ wireless X80 mobile robots.

  20. Negative Sequence Droop Method based Hierarchical Control for Low Voltage Ride-Through in Grid-Interactive Microgrids

    DEFF Research Database (Denmark)

    Zhao, Xin; Firoozabadi, Mehdi Savaghebi; Quintero, Juan Carlos Vasquez

    2015-01-01

    In highly microgrid (MG) integrated distribution systems, problems such as a sudden cut out of the MGs due to grid faults may lead to adverse effects to the grid. As a consequence, ancillary services provided by MGs are preferred since it can make the MG a contributor to ride through the faults....... In this paper, a voltage support strategy based on negative sequence droop control, which regulate the positive/negative sequence active and reactive power flow by means of sending proper voltage reference to the inner control loop, is proposed for the grid connected MGs to ride through voltage sags under...... complex line impedance conditions. In this case, the MGs should inject a certain amount of positive and negative sequence power to the grid so that the voltage quality at load side can be maintained at a satisfied level. A two layer hierarchical control strategy is proposed in this paper. The primary...

  1. Electric and hybrid vehicle environmental control subsystem study

    Science.gov (United States)

    Heitner, K. L.

    1980-01-01

    An environmental control subsystem (ECS) in electric and hybrid vehicles is studied. A combination of a combustion heater and gasoline engine (Otto cycle) driven vapor compression air conditioner is selected. The combustion heater, the small gasoline engine, and the vapor compression air conditioner are commercially available. These technologies have good cost and performance characteristics. The cost for this ECS is relatively close to the cost of current ECS's. Its effect on the vehicle's propulsion battery is minimal and the ECS size and weight do not have significant impact on the vehicle's range.

  2. Hybrid laminar flow control applied to advanced turbofan engine nacelles

    Science.gov (United States)

    Collier, F. S., Jr.; Arcara, P. C., Jr.; Wie, Y. S.

    1992-01-01

    The potential application of hybrid laminar flow control (HLFC) to the external surface of an advanced, high bypass ratio turbofan engine nacelle with a wetted area that approaches 15 percent of the wing total wetted area of future commercial transports is presented. A pressure distribution compatible with HLFC is specified and the corresponding nacelle geometry is computed employing a predictor/corrector design technique. Performance evaluations on an advanced twin-engine transport configuration are discussed to determine potential benefits in terms of reduced fuel consumption.

  3. κ-Casein-based hierarchical suprastructures and their use for selective temporal and spatial control over neuronal differentiation.

    Science.gov (United States)

    Chun, Jiyeong; Bhak, Ghibom; Lee, Sang-Gil; Lee, Ji-Hye; Lee, Daekyun; Char, Kookheon; Paik, Seung R

    2012-09-10

    Functions are diversified by producing hierarchical structures from a single raw material. Biologically compatible milk protein of κ-casein has been employed to fabricate higher-order suprastructures. In the presence of dithiothreitol and heat treatment, κ-casein transforms into amyloid fibrils with distinctive morphology attributable to mechanism-based fibrillar polymorphism. As the fibrils elongate to yield high aspect ratio during high-temperature incubation, the resulting fibrils laterally associate into the liquid crystalline state by forming a two-dimensional fibrillar array. Following a desalting process, the fibrillar arrays turn into a three-dimensional matrix of hydrogel that could be selectively disintegrated by subsequent salt treatment. The hydrogel was demonstrated to be a matrix capable of exhibiting controlled release of bioactive substances like retinoic acid, which led to temporal and spatial control over the differentiation of neuronal cells. Therefore, the hierarchical suprastructure formation derived from the single protein of κ-casein producing one-dimensional protein nanofibrils, a two-dimensional liquid crystalline state and a three-dimensional hydrogel could be widely appreciated in various areas of nanobiotechnology including drug delivery and tissue engineering.

  4. Control system and method for a hybrid electric vehicle

    Science.gov (United States)

    Phillips, Anthony Mark; Blankenship, John Richard; Bailey, Kathleen Ellen; Jankovic, Miroslava

    2001-01-01

    A vehicle system controller (20) is presented for a LSR parallel hybrid electric vehicle having an engine (10), a motor (12), wheels (14), a transmission (16) and a battery (18). The vehicle system controller (20) has a state machine having a plurality of predefined states (22-32) that represent operating modes for the vehicle. A set of rules is defined for controlling the transition between any two states in the state machine. The states (22-32) are prioritized according to driver demands, energy management concerns and system fault occurrences. The vehicle system controller (20) controls the transitions from a lower priority state to a higher priority state based on the set of rules. In addition, the vehicle system controller (20) will control a transition to a lower state from a higher state when the conditions no longer warrant staying in the current state. A unique set of output commands is defined for each state for the purpose of controlling lower level subsystem controllers. These commands serve to achieve the desire vehicle functionality within each state and insure smooth transitions between states.

  5. A Substractive Clustering Based Fuzzy Hybrid Reference Control Design for Transient Response Improvement of PID Controller

    Directory of Open Access Journals (Sweden)

    Endra Joelianto

    2009-11-01

    Full Text Available The well known PID controller has inherent limitations in fulfilling simultaneously the conflicting control design objectives. Parameters of the tuned PID controller should trade off the requirement of tracking set-point performances, disturbance rejection and stability robustness. Combination of hybrid reference control (HRC with PID controller results in the transient response performances can be independently achieved without deteriorating the disturbance rejection properties and the stability robustness requirement. This paper proposes a fuzzy based HRC where the membership functions of the fuzzy logic system are obtained by using a substractive clustering technique. The proposed method guarantees the transient response performances satisfaction while preserving the stability robustness of the closed loop system controlled by the PID controller with effective and systematic procedures in designing the fuzzy hybrid reference control system.

  6. Energy control strategy for a hybrid electric vehicle

    Science.gov (United States)

    Phillips, Anthony Mark; Blankenship, John Richard; Bailey, Kathleen Ellen; Jankovic, Miroslava

    2002-08-27

    An energy control strategy (10) for a hybrid electric vehicle that controls an electric motor during bleed and charge modes of operation. The control strategy (10) establishes (12) a value of the power level at which the battery is to be charged. The power level is used to calculate (14) the torque to be commanded to the electric motor. The strategy (10) of the present invention identifies a transition region (22) for the electric motor's operation that is bounded by upper and lower speed limits. According to the present invention, the desired torque is calculated by applying equations to the regions before, during and after the transition region (22), the equations being a function of the power level and the predetermined limits and boundaries.

  7. Hybrid control and motion planning of dynamical legged locomotion

    CERN Document Server

    2012-01-01

    "This book provides a comprehensive presentation of issues and challenges faced by researchers and practicing engineers in motion planning and hybrid control of dynamical legged locomotion. The major features range from offline and online motion planning algorithms to generate desired feasible periodic walking and running motions and tow-level control schemes, including within-stride feedback laws, continuous time update laws and event-based update laws, to asymptotically stabilize the generated desired periodic orbits. This book describes the current state of the art and future directions across all domains of dynamical legged locomotion so that readers can extend proposed motion planning algorithms and control methodologies to other types of planar and 3D legged robots".

  8. Hybrid Approach to State Estimation for Bioprocess Control.

    Science.gov (United States)

    Simutis, Rimvydas; Lübbert, Andreas

    2017-03-08

    An improved state estimation technique for bioprocess control applications is proposed where a hybrid version of the Unscented Kalman Filter (UKF) is employed. The underlying dynamic system model is formulated as a conventional system of ordinary differential equations based on the mass balances of the state variables biomass, substrate, and product, while the observation model, describing the less established relationship between the state variables and the measurement quantities, is formulated in a data driven way. The latter is formulated by means of a support vector regression (SVR) model. The UKF is applied to a recombinant therapeutic protein production process using Escherichia coli bacteria. Additionally, the state vector was extended by the specific biomass growth rate µ in order to allow for the estimation of this key variable which is crucial for the implementation of innovative control algorithms in recombinant therapeutic protein production processes. The state estimates depict a sufficiently low noise level which goes perfectly with different advanced bioprocess control applications.

  9. A Hierarchical Reliability Control Method for a Space Manipulator Based on the Strategy of Autonomous Decision-Making

    Directory of Open Access Journals (Sweden)

    Xin Gao

    2016-01-01

    Full Text Available In order to maintain and enhance the operational reliability of a robotic manipulator deployed in space, an operational reliability system control method is presented in this paper. First, a method to divide factors affecting the operational reliability is proposed, which divides the operational reliability factors into task-related factors and cost-related factors. Then the models describing the relationships between the two kinds of factors and control variables are established. Based on this, a multivariable and multiconstraint optimization model is constructed. Second, a hierarchical system control model which incorporates the operational reliability factors is constructed. The control process of the space manipulator is divided into three layers: task planning, path planning, and motion control. Operational reliability related performance parameters are measured and used as the system’s feedback. Taking the factors affecting the operational reliability into consideration, the system can autonomously decide which control layer of the system should be optimized and how to optimize it using a control level adjustment decision module. The operational reliability factors affect these three control levels in the form of control variable constraints. Simulation results demonstrate that the proposed method can achieve a greater probability of meeting the task accuracy requirements, while extending the expected lifetime of the space manipulator.

  10. Bifurcation and Hybrid Control for A Simple Hopfield Neural Networks with Delays

    Directory of Open Access Journals (Sweden)

    Zisen Mao

    2013-01-01

    Full Text Available A detailed analysis on the Hopf bifurcation of a delayed Hopfield neural network is given. Moreover, a new hybrid control strategy is proposed, in which time-delayed state feedback and parameter perturbation are used to control the Hopf bifurcation of the model. Numerical simulation results confirm that the new hybrid controller using time delay is efficient in controlling Hopf bifurcation.

  11. Dynamic positioning for an underactuated marine vehicle using hybrid control

    Science.gov (United States)

    Panagou, Dimitra; Kyriakopoulos, Kostas J.

    2014-02-01

    The increasing interest in autonomous marine systems and related applications has motivated, among others, the development of systems and algorithms for the dynamic positioning of underactuated marine vehicles (ships, surface vessels and underwater vehicles) under the influence of unknown environmental disturbances. In this paper, we present a state feedback control solution for the navigation and practical stabilisation of an underactuated marine vehicle under non-vanishing current disturbances, by means of hybrid control. The proposed solution involves a logic-based switching control strategy among simple state feedback controllers, which renders the position trajectories of the vehicle practically stable to a goal set around a desired position. The control scheme consists of three control laws; the first one is active out of the goal set and drives the system trajectories into this set, based on a novel dipolar vector field. The other two control laws are active in the goal set and alternately regulate the position and the orientation of the vehicle, so that the switched system is practically stable around the desired position. The overall system is shown to be robust, in the sense that the vehicle enters and remains into the goal set even if the external current disturbance is unknown, varying and only its maximum bound (magnitude) is given. The efficacy of the proposed solution is demonstrated through simulation results.

  12. Wireless Network Control with Privacy Using Hybrid ARQ

    CERN Document Server

    Sarikaya, Yunus; Koksal, Emre C

    2012-01-01

    We consider the problem of resource allocation in a wireless cellular network, in which nodes have both open and private information to be transmitted to the base station over block fading uplink channels. We develop a cross-layer solution, based on hybrid ARQ transmission with incremental redundancy. We provide a scheme that combines power control, flow control, and scheduling in order to maximize a global utility function, subject to the stability of the data queues, an average power constraint, and a constraint on the privacy outage probability. Our scheme is based on the assumption that each node has an estimate of its uplink channel gain at each block, while only the distribution of the cross channel gains is available. We prove that our scheme achieves a utility, arbitrarily close to the maximum achievable utility given the available channel state information.

  13. Design and control of hybrid actuation lower limb exoskeleton

    Directory of Open Access Journals (Sweden)

    Hipolito Aguilar-Sierra

    2015-06-01

    Full Text Available In this article, two types of actuators are applied for a lower limb exoskeleton. They are DC motors with the harmonic drive and the pneumatic artificial muscles. This combination takes advantages of both the harmonic drive and the pneumatic artificial muscle. It provides both high accuracy position control and high ratio of strength and weight. The shortcomings of the two actuators are overcome by the hybrid actuation, for example, low control accuracy and modeling difficult of pneumatic artificial muscle, compactness, and structural flexibility of DC motors. The design and modeling processes are discussed to show the proposed exoskeleton can increase the strength of human lower limbs. Experiments and analysis of the exoskeleton are given to evaluate the effectiveness of the design and modeling.

  14. A Hybrid Robotic Control System Using Neuroblastoma Cultures

    Science.gov (United States)

    Ferrández, J. M.; Lorente, V.; Cuadra, J. M.; Delapaz, F.; Álvarez-Sánchez, José Ramón; Fernández, E.

    The main objective of this work is to analyze the computing capabilities of human neuroblastoma cultured cells and to define connection schemes for controlling a robot behavior. Multielectrode Array (MEA) setups have been designed for direct culturing neural cells over silicon or glass substrates, providing the capability to stimulate and record simultaneously populations of neural cells. This paper describes the process of growing human neuroblastoma cells over MEA substrates and tries to modulate the natural physiologic responses of these cells by tetanic stimulation of the culture. We show that the large neuroblastoma networks developed in cultured MEAs are capable of learning: establishing numerous and dynamic connections, with modifiability induced by external stimuli and we propose an hybrid system for controlling a robot to avoid obstacles.

  15. Flux-weakening control methods for hybrid excitation synchronous motor

    Directory of Open Access Journals (Sweden)

    Mingming Huang

    2015-09-01

    Full Text Available The hybrid excitation synchronous motor (HESM, which aim at combining the advantages of permanent magnet motor and wound excitation motor, have the characteristics of low-speed high-torque hill climbing and wide speed range. Firstly, a new kind of HESM is presented in the paper, and its structure and mathematical model are illustrated. Then, based on a space voltage vector control, a novel flux-weakening method for speed adjustment in the high speed region is presented. The unique feature of the proposed control method is that the HESM driving system keeps the q-axis back-EMF components invariable during the flux-weakening operation process. Moreover, a copper loss minimization algorithm is adopted to reduce the copper loss of the HESM in the high speed region. Lastly, the proposed method is validated by the simulation and the experimental results.

  16. Convergence performance comparisons of PID, MRAC, and PID + MRAC hybrid controller

    Science.gov (United States)

    Zhang, Dan; Wei, Bin

    2016-06-01

    This study proposes a hybrid controller by combining a proportional-integral-derivative (PID) control and a model reference adaptive control (MRAC), which named as PID + MRAC controller. The convergence performances of the PID control, MRAC, and hybrid PID + MRAC are also compared. Through the simulation in Matlab, the results show that the convergence speed and performance of the MRAC and the PID + MRAC controller are better than those of the PID controller. In addition, the convergence performance of the hybrid control is better than that of the MRAC control.

  17. Strategy and mechanism for controlling the direction of defect evolution in graphene: preparation of high quality defect healed and hierarchically porous graphene

    Science.gov (United States)

    Cao, Kecheng; Tian, Yin; Zhang, Yongzhi; Yang, Xiaodan; Bai, Chiyao; Luo, Yue; Zhao, Xiaosheng; Ma, Lijian; Li, Shoujian

    2014-10-01

    In this paper, a novel approach for controlling the direction of defect evolution in graphene through intercalation of organic small molecules into graphite oxide (GO) combined with a one-pot microwave-assisted reaction is reported. By using ethanol as intercalator, the bulk production of high quality graphene with its defects being satisfactorily healed is achieved. The repair of defects using extraneous carbon atoms and the hybrid state of these carbon atoms are definitely demonstrated using isotopic tracing studies with 13C-labeled ethanol combined with 13C solid-state NMR. The defect healed graphene shows excellent crystallinity, extremely low oxygen content (C : O ratio of 23.8) and has the highest sheet conductivity (61 500 S m-1) compared to all other reported graphene products derived from GO. By using methanol or benzene as intercalators, hierarchically porous graphene with a self-supported 3-dimensional framework (~917 m2 g-1) containing both macropores and mesopores (2-5 nm) is obtained. This graphene possesses a distinctive amorphous carbon structure around the edge of the nanopores, which could be conducive to enhancing the lithium storage performance (up to 580 mA h g-1 after 300 cycles) when tested as an anode of lithium ion batteries, and might have promising applications in the field of electrode materials, catalysis, and separation, and so on. The mechanism involved for the controlled defect evolution is also proposed. The simple, ultrafast and unified strategy developed in this research provides a practical and effective approach to harness structural defects in graphene-based materials, which could also be expanded for designing and preparing other ordered carbon materials with specific structures.In this paper, a novel approach for controlling the direction of defect evolution in graphene through intercalation of organic small molecules into graphite oxide (GO) combined with a one-pot microwave-assisted reaction is reported. By using ethanol as

  18. Hybrid multiscale simulation of a mixing-controlled reaction

    Science.gov (United States)

    Scheibe, Timothy D.; Schuchardt, Karen; Agarwal, Khushbu; Chase, Jared; Yang, Xiaofan; Palmer, Bruce J.; Tartakovsky, Alexandre M.; Elsethagen, Todd; Redden, George

    2015-09-01

    Continuum-scale models, which employ a porous medium conceptualization to represent properties and processes averaged over a large number of solid grains and pore spaces, are widely used to study subsurface flow and reactive transport. Recently, pore-scale models, which explicitly resolve individual soil grains and pores, have been developed to more accurately model and study pore-scale phenomena, such as mineral precipitation and dissolution reactions, microbially-mediated surface reactions, and other complex processes. However, these highly-resolved models are prohibitively expensive for modeling domains of sizes relevant to practical problems. To broaden the utility of pore-scale models for larger domains, we developed a hybrid multiscale model that initially simulates the full domain at the continuum scale and applies a pore-scale model only to areas of high reactivity. Since the location and number of pore-scale model regions in the model varies as the reactions proceed, an adaptive script defines the number and location of pore regions within each continuum iteration and initializes pore-scale simulations from macroscale information. Another script communicates information from the pore-scale simulation results back to the continuum scale. These components provide loose coupling between the pore- and continuum-scale codes into a single hybrid multiscale model implemented within the SWIFT workflow environment. In this paper, we consider an irreversible homogeneous bimolecular reaction (two solutes reacting to form a third solute) in a 2D test problem. This paper is focused on the approach used for multiscale coupling between pore- and continuum-scale models, application to a realistic test problem, and implications of the results for predictive simulation of mixing-controlled reactions in porous media. Our results and analysis demonstrate that the hybrid multiscale method provides a feasible approach for increasing the accuracy of subsurface reactive transport

  19. Finite State Control of a Variable Impedance Hybrid Neuroprosthesis for Locomotion after Paralysis

    OpenAIRE

    Bulea, Thomas C.; Kobetic, R.; Audu, M.L.; Schnellenberger, J.; Triolo, R.J.

    2012-01-01

    We have previously reported on a novel variable impedance knee mechanism (VIKM). The VIKM was designed as a component of a hybrid neuroprosthesis to regulate knee flexion. The hybrid neuroprosthesis is a device that uses a controllable brace to support the body against collapse while stimulation provides power for movement. The hybrid neuroprosthesis requires a control system to coordinate the actions of the VIKM with the stimulation system; the development and evaluation of such a controller...

  20. Hierarchical photocatalysts.

    Science.gov (United States)

    Li, Xin; Yu, Jiaguo; Jaroniec, Mietek

    2016-05-07

    As a green and sustainable technology, semiconductor-based heterogeneous photocatalysis has received much attention in the last few decades because it has potential to solve both energy and environmental problems. To achieve efficient photocatalysts, various hierarchical semiconductors have been designed and fabricated at the micro/nanometer scale in recent years. This review presents a critical appraisal of fabrication methods, growth mechanisms and applications of advanced hierarchical photocatalysts. Especially, the different synthesis strategies such as two-step templating, in situ template-sacrificial dissolution, self-templating method, in situ template-free assembly, chemically induced self-transformation and post-synthesis treatment are highlighted. Finally, some important applications including photocatalytic degradation of pollutants, photocatalytic H2 production and photocatalytic CO2 reduction are reviewed. A thorough assessment of the progress made in photocatalysis may open new opportunities in designing highly effective hierarchical photocatalysts for advanced applications ranging from thermal catalysis, separation and purification processes to solar cells.

  1. Grid-connected Photovoltaic Micro-inverter with New Hybrid Control LLC Resonant Converter

    DEFF Research Database (Denmark)

    Xingkui, Mao; Qisheng, Huang; Qingbo, Ke

    2016-01-01

    A high-efficiency photovoltaic (PV) micro-inverter consisting of two power stages i.e. a LLC resonant converter with a new hybrid control scheme and a dc-ac inverter is proposed, studied and designed in this paper. In the first power stage, the new hybrid control combining pulse-frequency modulat......A high-efficiency photovoltaic (PV) micro-inverter consisting of two power stages i.e. a LLC resonant converter with a new hybrid control scheme and a dc-ac inverter is proposed, studied and designed in this paper. In the first power stage, the new hybrid control combining pulse...

  2. MERCURY CONTROL WITH THE ADVANCED HYBRID PARTICULATE COLLECTOR

    Energy Technology Data Exchange (ETDEWEB)

    Ye Zhuang; Stanley J. Miller; Steven A. Benson; Michelle R. Olderbak

    2003-08-01

    This project was awarded under U.S. Department of Energy (DOE) National Energy Technology Laboratory (NETL) Program Solicitation DE-PS26-00NT40769 and specifically addresses Technical Topical Area 4-Testing Novel and Less Mature Control Technologies on Actual Flue Gas at the Pilot Scale. The project team includes the Energy & Environmental Research Center (EERC) as the main contractor; W.L. Gore & Associates, Inc., as a technical and financial partner; and the Big Stone Plant operated by Otter Tail Power Company, host for the field-testing portion of the research. Since 1995, DOE has supported development of a new concept in particulate control called the advanced hybrid particulate collector (AHPC). The AHPC has been licensed to W.L. Gore & Associates, Inc., and is now marketed as the ''Advanced Hybrid''{trademark} filter by Gore. The AHPC combines the best features of electrostatic precipitators (ESPs) and baghouses in a unique configuration, providing major synergism between the two collection methods, both in the particulate collection step and in the transfer of dust to the hopper. The AHPC provides ultra-high collection efficiency, overcoming the problem of excessive fine-particle emissions with conventional ESPs, and it solves the problem of reentrainment and re-collection of dust in conventional baghouses. The AHPC appears to have unique advantages for mercury control over baghouses or ESPs as an excellent gas-solid contactor. The objective of the three-task project is to demonstrate 90% total mercury control in the AHPC at a lower cost than current mercury control estimates. The approach includes bench-scale batch testing that ties the new work to previous results and links results with larger-scale pilot testing with real flue gas on a coal-fired combustion system, pilot-scale testing on a coal-fired combustion system with both a pulse-jet baghouse and an AHPC to prove or disprove the research hypotheses, and field demonstration pilot

  3. A hierarchical model predictive voltage control for NPC/H-bridge converters with a reduced computational burden

    DEFF Research Database (Denmark)

    Gong, Zheng; Dai, Peng; Wu, Xiaojie

    2017-01-01

    In recent years, voltage source multilevel converters are very popular in medium/high-voltage industrial applications, among which the NPC/H-Bridge converter is a popular solution to the medium/high-voltage drive systems. The conventional finite control set model predictive control (FCS-MPC) stra......In recent years, voltage source multilevel converters are very popular in medium/high-voltage industrial applications, among which the NPC/H-Bridge converter is a popular solution to the medium/high-voltage drive systems. The conventional finite control set model predictive control (FCS......-MPC) strategy is not practical for multilevel converters due to their substantial calculation requirements, especially under high number of voltage levels. To solve this problem, a hierarchical model predictive voltage control (HMPVC) strategy with referring to the implementation of g-h coordinate space vector...... calculation is significantly reduced and the advantages of the conventional FCS-MPC strategy are reserved. In addition, a HMPVC-based field oriented control scheme is applied to a drive system with the NPC/H-Bridge converter. Both steady-state and transient performances are evaluated by simulations...

  4. Adaptive Hierarchical Control for the Muscle Strength Training of Stroke Survivors in Robot-Aided Upper-Limb Rehabilitation

    Directory of Open Access Journals (Sweden)

    Guozheng Xu

    2012-10-01

    Full Text Available Muscle strength training for stroke patients is of vital importance for helping survivors to progressively restore muscle strength and improve the performance of their activities in daily living (ADL. An adaptive hierarchical therapy control framework which integrates the patient's real biomechanical state estimation with task-performance quantitative evaluation is proposed. Firstly, a high-level progressive resistive supervisory controller is designed to determine the resistive force base for each training session based on the patient's online task-performance evaluation. Then, a low-level adaptive resistive force triggered controller is presented to further regulate the interactive resistive force corresponding to the patient's real-time biomechanical state – characterized by the patient's bio-damping and bio-stiffness in the course of one training session, so that the patient is challenged in a moderate but engaging and motivating way. Finally, a therapeutic robot system using a Barrett WAM™ compliant manipulator is set up. We recruited eighteen inpatient and outpatient stroke participants who were randomly allocated in experimental (robot-aided and control (conventional physical therapy groups and enrolled for sixteen weeks of progressive resistance training. The preliminary results show that the proposed therapy control strategies can enhance the recovery of strength and motor control ability.

  5. A PEMFC hybrid electric vehicle real time control system

    Science.gov (United States)

    Sun, Hongqiao

    In recent years, environmental friendly technologies and alternative energy solutions have drawn a lot of public attentions due to global energy crisis and pollution issues. Fuel cell (FC), a technology invented almost at the same time as the internal combustion (IC) engine, is now the focus of the automotive industry again. The fuel cell vehicle (FCV) has zero emission and its efficiency is significantly higher than the conventional IC engine power vehicles. Among a variety of FCV technologies, proton exchange membrane (PEM) FC vehicle appears to be far more attractive and mature. The prototype PEMFC vehicle has been developed and demonstrated to the public by nearly all the major automotive manufacturers in recent years. However, to the interest of the public research, publications and documentations on the PEMFC vehicle technology are rarely available due to its proprietary nature, which essentially makes it a secured technology. This dissertation demonstrates a real world application of a PEMFC hybrid electric vehicle. Through presenting the vehicle design concept, developing the real time control system and generating generic operation principles, this dissertation targets at establishing the public knowledge base on this new technology. A complete PEMFC hybrid electric vehicle design, including vehicle components layout, process flow diagram, real time control system architecture, subsystem structures and control algorithms, is presented in order to help understand the whole vehicle system. The design concept is validated through the vehicle demonstration. Generic operating principles are established along with the validation process, which helps populate this emerging technology. Thereafter, further improvements and future research directions are discussed.

  6. Hybrid control of bifurcation and chaos in stroboscopic model of Internet congestion control system

    Science.gov (United States)

    Ding, Da-Wei; Zhu, Jie; Luo, Xiao-Shu

    2008-01-01

    Interaction between transmission control protocol (TCP) and random early detection (RED) gateway in the Internet congestion control system has been modelled as a discrete-time dynamic system which exhibits complex bifurcating and chaotic behaviours. In this paper, a hybrid control strategy using both state feedback and parameter perturbation is employed to control the bifurcation and stabilize the chaotic orbits embedded in this discrete-time dynamic system of TCP/RED. Theoretical analysis and numerical simulations show that the bifurcation is delayed and the chaotic orbits are stabilized to a fixed point, which reliably achieves a stable average queue size in an extended range of parameters and even completely eliminates the chaotic behaviour in a particular range of parameters. Therefore it is possible to decrease the sensitivity of RED to parameters. By using the hybrid strategy, we may improve the stability and performance of TCP/RED congestion control system significantly.

  7. Control-relevant modeling and simulation of a SOFC-GT hybrid system

    Directory of Open Access Journals (Sweden)

    Rambabu Kandepu

    2006-07-01

    Full Text Available In this paper, control-relevant models of the most important components in a SOFC-GT hybrid system are described. Dynamic simulations are performed on the overall hybrid system. The model is used to develop a simple control structure, but the simulations show that more elaborate control is needed.

  8. A Novel Hybrid Safety-Control Strategy for a Manipulator

    Directory of Open Access Journals (Sweden)

    Jing Xia

    2014-04-01

    Full Text Available As robots tend to work cooperatively with humans in shared workplaces, safety as regards robot-human interactions has caused a great deal of concern in the robot community, and control strategies have become a hot topic in robotics research. In order to guarantee the robot's safety and continuous motions, this paper proposes a novel safety-control strategy, which is strictly conservative and which consists of a pre-contact and post-contact safety strategy. We adopt an optimal motion trajectory-planning method, by use of which the jerk, acceleration and velocity of the robot's motion can be limited and a time-optimal motion can be obtained as a post-contact safety strategy for a position-controlled manipulator. The optimal motion trajectory planning not only reduces the impact forces during the collision period, but also maintains the efficiency of the manipulator and preserves continuous motions. Next, we describe a novel collision detection method as a pre-contact safety strategy to avoid collisions. The method proposed here can compute security warning region to handle the effect of robot motion on collision detection and detect collisions between non-convex polygon soups. Finally, the control strategy is implemented for a 7-DOF humanoid manipulator and the experimental results demonstrate the validity of this novel hybrid safety-control strategy.

  9. Hierarchical tree-structured control network for the Antares laser facility

    Energy Technology Data Exchange (ETDEWEB)

    McGirt, F.

    1979-01-01

    The design and implementation of a distributed, computer-based control system for the Antares 100-kJ gas laser fusion facility is presented. Control system requirements and their operational interrelationships that consider both integrated system control and individual subsystem control are described. Several configurations of minicomputers are established to provide direct control of sets of microcomputers and to provide points of operator-laser interaction. Over 100 microcomputers are located very close to the laser device control points or sources of data and perform the real-time functions of the control system, such as data and control signal multiplexing, stepping motor control, and vacuum and gas system control. These microcomputers are designed to be supported as an integral part of the control network and to be software compatible with the larger minicomputers.

  10. Control of equipment isolation system using wavelet-based hybrid sliding mode control

    Science.gov (United States)

    Huang, Shieh-Kung; Loh, Chin-Hsiung

    2017-04-01

    -structural components. The aim of this paper is to develop a hybrid control algorithm on the control of both structures and equipments simultaneously to overcome the limitations of classical feedback control through combining the advantage of classic LQR and SMC. To suppress vibrations with the frequency contents of strong earthquakes differing from the natural frequencies of civil structures, the hybrid control algorithms integrated with the wavelet-base vibration control algorithm is developed. The performance of classical, hybrid, and wavelet-based hybrid control algorithms as well as the responses of structure and non-structural components are evaluated and discussed through numerical simulation in this study.

  11. Mass Production and Size Control of Lipid-Polymer Hybrid Nanoparticles through Controlled Microvortices

    NARCIS (Netherlands)

    Kim, Yongtae; Lee Chung, Bomy; Ma, Mingming; Mulder, Willem J. M.; Fayad, Zahi A.; Farokhzad, Omid C.; Langer, Robert

    2012-01-01

    Lipid-polymer hybrid (LPH) nanoparticles can deliver a wide range of therapeutic compounds in a controlled manner. LPH nanoparticle syntheses using microfluidics improve the mixing process but are restricted by a low throughput. In this study, we present a pattern-tunable microvortex platform that

  12. Theoretical applied questions and their implementation in development of hierarchical computer control systems (CNC of facsimile copy machines for art engraving on minerals

    Directory of Open Access Journals (Sweden)

    Morozov V. I.

    2002-09-01

    Full Text Available The technological scheme implementing machine engraving on a mineral and facsimile transfer of the halftone image from the personal computer is offered. The dot (microstroke image is formed by a pulse system together with an electromechanical converter, such that the integral optical density of separate fragments equals optical density of the same fragments of the initial image.Structural construction and separate parameters of a two-level hierarchical control system are formalized.The description of the top level of the developed hierarchical control system is given.

  13. Hybrid Wall Construction and Quality Control Issues in Wyandotte, Michigan

    Energy Technology Data Exchange (ETDEWEB)

    Lukachko, A. [Building Science Corporation, Somerville, MA (United States); Grin, A. [Building Science Corporation, Somerville, MA (United States); Bergey, D. [Building Science Corporation, Somerville, MA (United States)

    2013-12-01

    This report is the second report on the Wyandotte Neighborhood Stabilization Program 2 project in Wyandotte, MI, and documents refinements to the design, construction, and quality control for the high R-value enclosure. The report will be of interest to designers and builders of production housing in Cold Climates. The focus of the second round of research was on using the hybrid insulation approach to develop a reliable method of achieving consistently low airtightness numbers. There are two primary outcomes from this research. First, the airtightness measurements demonstrate that with a shallow learning curve, even new builders entering the program having little experience with the technology package are able to achieve consistent results that are less than 1.5 ACH50. Second, the process changes implemented to help secure these results were straightforward and ended up encouraging better communication between designer, builder, and the city officials supervising the project.

  14. Hybrid Wall Construction and Quality Control Issues in Wyandotte, Michigan

    Energy Technology Data Exchange (ETDEWEB)

    Lukachko, A. [National Renewable Energy Lab. (NREL), Golden, CO (United States); Grin, A. [National Renewable Energy Lab. (NREL), Golden, CO (United States); Bergey, D. [National Renewable Energy Lab. (NREL), Golden, CO (United States)

    2013-12-01

    This report is the second report on the Wyandotte NSP2 project in Wyandotte, MI and documents refinements to the design, construction, and quality control for the High R-value enclosure. The report will be of interest to designers and builders of production housing in Cold Climates. The focus of the second round of research was on using the hybrid insulation approach to develop a reliable methodof achieving consistently low airtightness numbers. There are two primary outcomes from this research. First, the airtightness measurements demonstrate that with a shallow learning curve, even new builders entering the program having little experience with the technology package are able to achieve consistent results that are less than 1.5 ACH50. Second, the process changes implemented to helpsecure these results were straightforward and ended up encouraging better communication between designer, builder, and the City officials supervising the project.

  15. Controllable fabrication of zinc borate hierarchical nanostructure on brucite surface for enhanced mechanical properties and flame retardant behaviors.

    Science.gov (United States)

    Wang, Xuesong; Pang, Hongchang; Chen, Wendan; Lin, Yuan; Zong, Lishuai; Ning, Guiling

    2014-05-28

    A novel and efficient halogen-free composite flame retardant (CFR) consisting of a brucite core and a fine zinc borate [Zn6O(OH)(BO3)3] hierarchical nanostructure shell was designed and synthesized via a facile nanoengineering route. It had been demonstrated that this unique hybrid structure possessed a high BET specific surface area (65 m(2)/g) and could significantly enhance the interfacial interaction when mixing with ethylene-vinyl acetate (EVA). This improved the transfer of stress between CFR particles and EVA matrix and increased the viscosity of EVA/EVA blends, which was beneficial for droplet inhibition and char forming. The mechanical properties and flammability behaviors of the EVA/CFR blends had been compared with the EVA/physical mixture (PM, with the given proportion of brucite and Zn6O(OH)(BO3)3). The mechanical properties of EVA/CFR blends, especially the tensile strength (TS), presented a remarkable increase reaching at least a 20% increment. Meanwhile, with the same 45 wt % of fillers, the EVA/CFR formulation could achieve a limiting oxygen index (LOI) value of 33 (37.5 % higher than that of EVA/PM blends) and UL-94 V-0 rating. Moreover, the heat release rate (HRR), peak heat release rate (PHRR), total heat released (THR), smoke production rate (SPR) and mass loss rate (MLR) were considerably reduced, especially PHRR and SPR for EVA/CFR blends were reduced to 32%. According to this study, the design of fine structure might pave the way for the future development of halogen-free flame retardants combining both enhanced mechanical properties and excellent flame retardant behaviors.

  16. A hybrid approach to modeling and control of vehicle height for electronically controlled air suspension

    Science.gov (United States)

    Sun, Xiaoqiang; Cai, Yingfeng; Wang, Shaohua; Liu, Yanling; Chen, Long

    2016-01-01

    The control problems associated with vehicle height adjustment of electronically controlled air suspension (ECAS) still pose theoretical challenges for researchers, which manifest themselves in the publications on this subject over the last years. This paper deals with modeling and control of a vehicle height adjustment system for ECAS, which is an example of a hybrid dynamical system due to the coexistence and coupling of continuous variables and discrete events. A mixed logical dynamical (MLD) modeling approach is chosen for capturing enough details of the vehicle height adjustment process. The hybrid dynamic model is constructed on the basis of some assumptions and piecewise linear approximation for components nonlinearities. Then, the on-off statuses of solenoid valves and the piecewise approximation process are described by propositional logic, and the hybrid system is transformed into the set of linear mixed-integer equalities and inequalities, denoted as MLD model, automatically by HYSDEL. Using this model, a hybrid model predictive controller (HMPC) is tuned based on online mixed-integer quadratic optimization (MIQP). Two different scenarios are considered in the simulation, whose results verify the height adjustment effectiveness of the proposed approach. Explicit solutions of the controller are computed to control the vehicle height adjustment system in realtime using an offline multi-parametric programming technology (MPT), thus convert the controller into an equivalent explicit piecewise affine form. Finally, bench experiments for vehicle height lifting, holding and lowering procedures are conducted, which demonstrate that the HMPC can adjust the vehicle height by controlling the on-off statuses of solenoid valves directly. This research proposes a new modeling and control method for vehicle height adjustment of ECAS, which leads to a closed-loop system with favorable dynamical properties.

  17. New Intelligent Transmission Concept for Hybrid Mobile Robot Speed Control

    Directory of Open Access Journals (Sweden)

    Nazim Mir-Nasiri

    2005-09-01

    Full Text Available This paper presents a new concept of a mobile robot speed control by using two degree of freedom gear transmission. The developed intelligent speed controller utilizes a gear box which comprises of epicyclic gear train with two inputs, one coupled with the engine shaft and another with the shaft of a variable speed dc motor. The net output speed is a combination of the two input speeds and is governed by the transmission ratio of the planetary gear train. This new approach eliminates the use of a torque converter which is otherwise an indispensable part of all available automatic transmissions, thereby reducing the power loss that occurs in the box during the fluid coupling. By gradually varying the speed of the dc motor a stepless transmission has been achieved. The other advantages of the developed controller are pulling over and reversing the vehicle, implemented by intelligent mixing of the dc motor and engine speeds. This approach eliminates traditional braking system in entire vehicle design. The use of two power sources, IC engine and battery driven DC motor, utilizes the modern idea of hybrid vehicles. The new mobile robot speed controller is capable of driving the vehicle even in extreme case of IC engine failure, for example, due to gas depletion.

  18. New Intelligent Transmission Concept for Hybrid Mobile Robot Speed Control

    Directory of Open Access Journals (Sweden)

    Nazim Mir-Nasiri

    2008-11-01

    Full Text Available This paper presents a new concept of a mobile robot speed control by using two degree of freedom gear transmission. The developed intelligent speed controller utilizes a gear box which comprises of epicyclic gear train with two inputs, one coupled with the engine shaft and another with the shaft of a variable speed dc motor. The net output speed is a combination of the two input speeds and is governed by the transmission ratio of the planetary gear train. This new approach eliminates the use of a torque converter which is otherwise an indispensable part of all available automatic transmissions, thereby reducing the power loss that occurs in the box during the fluid coupling. By gradually varying the speed of the dc motor a stepless transmission has been achieved. The other advantages of the developed controller are pulling over and reversing the vehicle, implemented by intelligent mixing of the dc motor and engine speeds. This approach eliminates traditional braking system in entire vehicle design. The use of two power sources, IC engine and battery driven DC motor, utilizes the modern idea of hybrid vehicles. The new mobile robot speed controller is capable of driving the vehicle even in extreme case of IC engine failure, for example, due to gas depletion..

  19. Modified hybrid control of robot manipulators for high precision assembly operations

    Science.gov (United States)

    Nguyen, Charles C.; Pooran, Farhad J.; Premack, Timothy

    1988-01-01

    This paper is concerned with applications of robot manipulators in high precision assembly tasks that can be successfully performed by employing a hybrid control scheme that independently controls force and position. A traditional hybrid control scheme is implemented in Cartesian space. In the modified hybrid control scheme introduced in this paper, the error driven control signals are expressed in joint space. This paper studies the implementation of the modified hybrid control scheme on a two-degree-of-freedom robot manipulator with a closed-kinematic chain mechanism. The performance of the traditional and modified hybrid control schemes is comparatively evaluated by computer simulation in terms of computation time and accuracy for several study cases.

  20. MERCURY CONTROL WITH THE ADVANCED HYBRID PARTICULATE COLLECTOR

    Energy Technology Data Exchange (ETDEWEB)

    Ye Zhuang; Stanley J. Miller; Grant E. Dunham; Michelle R. Olderbak

    2002-02-01

    Since 1995, DOE has supported development of a new concept in particulate control, called the advanced hybrid particulate collector (AHPC). The AHPC combines the best features of electrostatic precipitators (ESPs) and baghouses in a unique configuration, providing major synergism between the two collection methods, both in the particulate collection step and in the transfer of dust to the hopper. The AHPC provides ultrahigh collection efficiency, overcoming the problem of excessive fine-particle emission with conventional ESPs, and it solves the problem of reentrainment and re-collection of dust in conventional baghouses. The AHPC appears to have unique advantages for mercury control over baghouses or ESPs as an excellent gas-solid contactor. The objective of the three-task project is to demonstrate 90% total mercury control in the AHPC at a lower cost than current mercury control estimates. The approach includes bench-scale batch testing that ties the new work to previous results and links results with larger-scale pilot testing with real flue gas on a coal-fired combustion system, pilot-scale testing on a coal-fired combustion system with both a pulse-jet baghouse and an AHPC to prove or disprove the research hypotheses, and field demonstration pilot-scale testing at a utility power plant to prove scaleup and demonstrate longer-term mercury control. This project, if successful, will demonstrate at the pilot-scale level a technology that would provide a cost-effective technique to accomplish control of mercury emissions and, at the same time, greatly enhance fine particulate collection efficiency. The technology can be used to retrofit systems currently employing inefficient ESP technology as well as for new construction, thereby providing a solution to a large segment of the U.S. utility industry as well as other industries requiring mercury control.

  1. Hierarchical controls on native larval lamprey habitat in the Umpqua basin, southwestern Oregon, U.S.A.

    Science.gov (United States)

    Jones, K.; Mangano, J.; Keith, M. K.; O'Connor, J. E.; Dunham, J.; Heck, M.; Wise, D. R.

    2015-12-01

    Interactions between streamflow and geomorphic processes at multiple spatial scales shape the ranges of habitats, species, and life stages that a river can support. Understanding these processes within a hierarchical context for Pacific Northwest rivers may be helpful for proactive monitoring and restoration of native western brook lamprey (Lampetra richardsonii) and Pacific lamprey (Entosphenus tridentatus). To that end, our study assessed the processes creating thick, fine-grained sediment deposits that lamprey larvae rely on as rearing habitat in the Umpqua River basin, southwestern Oregon. We first developed a spatial framework for characterizing basins based on expected fluxes of suspended and bed-material sediment and transport capacity. We then assessed the reach-scale controls on sediment deposition and erosion. Coupling remotely based watershed analyses and field sampling helped us assess the broad-scale spatial controls on sediment supply imposed by geology, and in turn, local factors that control sediment deposition and create larval lamprey habitat. Collectively, the results of this work aid in understanding the critical physical controls influencing the patterns in local habitat availability for larval lamprey within river networks.

  2. Flower-Like CuO/ZnO Hybrid Hierarchical Nanostructures Grown on Copper Substrate: Glycothermal Synthesis, Characterization, Hydrophobic and Anticorrosion Properties

    Directory of Open Access Journals (Sweden)

    Farshad Beshkar

    2017-06-01

    Full Text Available In this work we have demonstrated a facile formation of CuO nanostructures on copper substrates by the oxidation of copper foil in ethylene glycol (EG at 80 °C. On immersing a prepared CuO film into a solution containing 0.1 g Zn(acac2 in 20 mL EG for 8 h, ZnO flower-like microstructures composed of hierarchical three-dimensional (3D aggregated nanoparticles and spherical architectures were spontaneously formed at 100 °C. The as-synthesized thin films and 3D microstructures were characterized using XRD, SEM, and EDS techniques. The effects of sodium dodecyl sulphate (SDS, cetyltrimethylammonium bromide (CTAB, and polyethylene glycol (PEG 6000 as surfactants and stabilizers on the morphology of the CuO and ZnO structures were discussed. Possible growth mechanisms for the controlled organization of primary building units into CuO nanostructures and 3D flower-like ZnO architectures were proposed. The hydrophobic property of the products was characterized by means of water contact angle measurement. After simple surface modification with stearic acid and PDMS, the resulting films showed hydrophobic and even superhydrophobic characteristics due to their special surface energy and nano-microstructure morphology. Importantly, stable superhydrophobicity with a contact angle of 153.5° was successfully observed for CuO-ZnO microflowers after modification with PDMS. The electrochemical impedance measurements proved that the anticorrosion efficiency for the CuO/ZnO/PDMS sample was about 99%.

  3. Electrically driven hybrid photonic metamaterials for multifunctional control

    Science.gov (United States)

    Kang, Lei; Liu, Liu; Campbell, Sawyer D.; Yue, Taiwei; Ren, Qiang; Mayer, Theresa S.; Werner, Douglas H.

    2017-08-01

    The unique light-matter interaction in metamaterials, a type of artificial medium in which the geometrical features of subunits dominate their optical responses, have been utilized to achieve exotic material properties that are rare or nonexistent in natural materials. Furthermore, to extend their behaviors, active materials have been introduced into metamaterial systems to advance tunability, switchability and nonlinearity. Nevertheless, practical examples of versatile photonic metamaterials remain exceedingly rare for two main reasons. On the one hand, in sharp contrast to the broad material options available at lower frequencies, it is less common to find active media in the optical regime that can provide pronounced dielectric property changes under external stimuli, such as electric and magnetic fields. Vanadium dioxide (VO2), offering a large refractive index variation over a broad frequency range due to its near room temperature insulator-to-metal transition (IMT), has been favored in recent studies on tunable metamaterials. On the other hand, it turns out that regulating responses of hybrid metamaterials to external forces in an integrated manner is not a straightforward task. Recently, metamaterial-enabled devices (i.e., metadevices) with `self-sufficient' or `self-contained' electrical and optical properties have enabled complex functionalities. Here, we present a design methodology along with the associated experimental validation of a VO2 thin film integrated optical metamaterial absorber as a hybrid photonic platform for electrically driven multifunctional control, including reflectance switching, a rewritable memory process and manageable localized camouflage. The nanoengineered topologically continuous metal structure simultaneously supports the optical resonance and electrical functionality that actuates the phase transition in VO2 through the process of Joule heating. This work provides a universal approach to creating self-sufficient and highly

  4. Hierarchical, decentralized control system for large-scale smart-structures

    Science.gov (United States)

    Algermissen, Stephan; Fröhlich, Tim; Monner, Hans Peter

    2014-08-01

    Active control of sound and vibration has gained much attention in all kinds of industries in the past decade. Future prospects for maximizing airline passenger comfort are especially promising. The objectives of recent research projects in this area are the reduction of noise transmission through thin walled structures such as fuselages, linings or interior elements. Besides different external noise sources, such as the turbulent boundary layer, rotor or jet noise, the actuator and sensor placement as well as different control concepts are addressed. Mostly, the work is focused on a single panel or section of the fuselage, neglecting the fact that for effective noise reduction the entire fuselage has to be taken into account. Nevertheless, extending the scope of an active system from a single panel to the entire fuselage increases the effort for control hardware dramatically. This paper presents a control concept for large structures using distributed control nodes. Each node has the capability to execute a vibration or noise controller for a specific part or section of the fuselage. For maintenance, controller tuning or performance measurement, all nodes are connected to a host computer via Universal Serial Bus (USB). This topology allows a partitioning and distributing of tasks. The nodes execute the low-level control functions. High-level tasks like maintenance, system identification and control synthesis are operated by the host using streamed data from the nodes. By choosing low-price nodes, a very cost effective way of implementing an active system for large structures is realized. Besides the system identification and controller synthesis on the host computer, a detailed view on the hardware and software concept for the nodes is given. Finally, the results of an experimental test of a system running a robust vibration controller at an active panel demonstrator are shown.

  5. Implementation of an optimal control energy management strategy in a hybrid truck

    NARCIS (Netherlands)

    Mullem, D. van; Keulen, T. van; Kessels, J.T.B.A.; Jager, B. de; Steinbuch, M.

    2010-01-01

    Energy Management Strategies for hybrid powertrains control the power split, between the engine and electric motor, of a hybrid vehicle, with fuel consumption or emission minimization as objective. Optimal control theory can be applied to rewrite the optimization problem to an optimization

  6. A Hybrid Control Strategy for Robust Contact Detection and Force Regulation

    NARCIS (Netherlands)

    Carloni, Raffaella; Sanfelice, Ricardo G.; Teel, Andrew R.; Melchiorri, Claudio

    We present an innovative hybrid control strategy for contact detection and force regulation of robotic manipulators. This hybrid architecture controls the robotic manipulator during the following stages of interaction with the work environment: the free motion, the transition phase, and the

  7. Design of hybrid sliding mode controller based on fireworks algorithm for nonlinear inverted pendulum systems

    OpenAIRE

    Te-Jen Su; Shih-Ming Wang; Tsung-Ying Li; Sung-Tsun Shih; Van-Manh Hoang

    2016-01-01

    The objective of this article is to optimize parameters of a hybrid sliding mode controller based on fireworks algorithm for a nonlinear inverted pendulum system. The proposed controller is a combination of two modified types of the classical sliding mode controller, namely, baseline sliding mode controller and fast output sampling discrete sliding mode controller. The simulation process is carried out with MATLAB/Simulink. The results are compared with a published hybrid method using proport...

  8. Hierarchical XP

    OpenAIRE

    Jacobi, Carsten; Rumpe, Bernhard

    2014-01-01

    XP is a light-weight methodology suited particularly for small-sized teams that develop software which has only vague or rapidly changing requirements. The discipline of systems engineering knows it as approach of incremental system change or also of "muddling through". In this paper, we introduce three well known methods of reorganizing companies, namely, the holistic approach, the incremental approach, and the hierarchical approach. We show similarities between software engineering methods ...

  9. Remarks on Hierarchic Control for a Linearized Micropolar Fluids System in Moving Domains

    Energy Technology Data Exchange (ETDEWEB)

    Jesus, Isaías Pereira de, E-mail: isaias@ufpi.edu.br [Universidade Federal do Piauí, Dpto. Matemática (Brazil)

    2015-12-15

    We study a Stackelberg strategy subject to the evolutionary linearized micropolar fluids equations in domains with moving boundaries, considering a Nash multi-objective equilibrium (non necessarily cooperative) for the “follower players” (as is called in the economy field) and an optimal problem for the leader player with approximate controllability objective. We will obtain the following main results: the existence and uniqueness of Nash equilibrium and its characterization, the approximate controllability of the linearized micropolar system with respect to the leader control and the existence and uniqueness of the Stackelberg–Nash problem, where the optimality system for the leader is given.

  10. Overall intelligent hybrid control system for a fossil-fuel power unit

    Energy Technology Data Exchange (ETDEWEB)

    Garduno-Ramirez, Raul

    2000-08-01

    This research present a methodology to design a generalized overall unit control system for a fossil fuel power unit (FFPU), and develops a minimum prototype to demonstrate its feasibility. Toward the above goal, the associated research project was undertaken as a technology innovation process with its two ends identified as follows. First, it is recognized that the coordinated control strategies constitute the uppermost control level in current FFPUs, and so, are responsible for driving the boiler-turbine-generator set as a single entity. Second, a FFPU is envisioned as a complex process, subject to multiple changing operating conditions, that should perform as an intelligent system, for which an advanced integral control concept is needed. Therefore, as an outcome of the innovation process, a generalized unit control concept that extends the capabilities of current coordinated control schemes is proposed. This concept is presented as the Intelligent Coordinated Control System (ICCS) paradigm, which establishes an open reference framework for the development of overall unit control schemes. The ICCS's system goals are identified using power plant process engineering concepts, and intelligent control systems engineering concepts are used to identify main tasks and to achieve system functional decomposition. A software engineering agency concept is used to identify and group agents according to their knowledge and purpose interactions. The resultant ICCS structure is an open set of functionally grouped agent clusters in a two-level hierarchical system. The upper level, mainly characterized for knowledge-driven processes, performs the supervisory functions needed to provide self governing operation characteristics, while the lower level, mainly characterized for data-driven processes, performs the fast reactive behavior functions necessary for hybrid real-time control and protection. Developed through several stages, the ICCS-MP finally implements a two

  11. DNA - peptide polyelectrolyte complexes: Phase control by hybridization

    Science.gov (United States)

    Vieregg, Jeffrey; Lueckheide, Michael; Marciel, Amanda; Leon, Lorraine; Tirrell, Matthew

    DNA is one of the most highly-charged molecules known, and interacts strongly with charged molecules in the cell. Condensation of long double-stranded DNA is one of the classic problems of biophysics, but the polyelectrolyte behavior of short and/or single-stranded nucleic acids has attracted far less study despite its importance for both biological and engineered systems. We report here studies of DNA oligonucleotides complexed with cationic peptides and polyamines. As seen previously for longer sequences, double-stranded oligonucleotides form solid precipitates, but single-stranded oligonucleotides instead undergo liquid-liquid phase separation to form coacervate droplets. Complexed oligonucleotides remain competent for hybridization, and display sequence-dependent environmental response. We observe similar behavior for RNA oligonucleotides, and methylphosphonate substitution of the DNA backbone indicates that nucleic acid charge density controls whether liquid or solid complexes are formed. Liquid-liquid phase separations of this type have been implicated in formation of membraneless organelles in vivo, and have been suggested as protocells in early life scenarios; oligonucleotides offer an excellent method to probe the physics controlling these phenomena.

  12. Economic COP Optimization of a Heat Pump with Hierarchical Model Predictive Control

    DEFF Research Database (Denmark)

    Tahersima, Fatemeh; Stoustrup, Jakob; Rasmussen, Henrik

    2012-01-01

    bills by involving feedback control in a previous study, this paper has continued the same line of argument and has investigated effects of a priori knowledge on weather forecast and electricity price profile to alleviate the total electricity cost subject to constraints on resident's thermal comfort....... The proposed control strategy is a leap forward towards balanced load control in Smart Grids where individual heat pumps in detached houses contribute to preserve load balance through intelligent electricity pricing policies.......A low-temperature heating system is studied in this paper. It consists of hydronic under-floor heating pipes and an air/ground source heat pump. The heat pump in such a setup is conventionally controlled only by feed-forwarding the ambient temperature. Having shown >10% cut-down on electricity...

  13. Double Motor Coordinated Control Based on Hybrid Genetic Algorithm and CMAC

    Science.gov (United States)

    Cao, Shaozhong; Tu, Ji

    A novel hybrid cerebellar model articulation controller (CMAC) and online adaptive genetic algorithm (GA) controller is introduced to control two Brushless DC motor (BLDCM) which applied in a biped robot. Genetic Algorithm simulates the random learning among the individuals of a group, and CMAC simulates the self-learning of an individual. To validate the ability and superiority of the novel algorithm, experiments have been done in MATLAB/SIMULINK. Analysis among GA, hybrid GA-CMAC and CMAC feed-forward control is also given. The results prove that the torque ripple of the coordinated control system is eliminated by using the hybrid GA-CMAC algorithm.

  14. Optimizing data access for wind farm control over hierarchical communication networks

    DEFF Research Database (Denmark)

    Madsen, Jacob Theilgaard; Findrik, Mislav; Madsen, Tatiana Kozlova

    2016-01-01

    In this paper we investigate a centralized wind farm controller which runs periodically. The controller attempts to reduce the damage a wind turbine sustains during operation by estimating fatigue based on the wind turbine state. The investigation focuses on the impact of information access...... with respect to the communication network delays. These measurements are done in regards to packet loss and communication delays, and the simulations are rerun using either the traces from the measurements or scenarios constructed from the delay parameters....

  15. CdSe-CdS quantum dots co-sensitized ZnO hierarchical hybrids for solar cells with enhanced photo-electrical conversion efficiency.

    Science.gov (United States)

    Yuan, Zhimin; Yin, Longwei

    2014-11-07

    We have developed a facile method to fabricate CdSe-CdS quantum dot sensitized hierarchical ZnO nanostructures for quantum dot sensitized solar cells (QDSCs) by combining a hydrothermal method, successive ionic layer adsorption and chemical reaction (SILAR) techniques. The method consists of the growth of the ZnO hierarchical structure on ITO substrates via a hydrothermal method and the layer deposition of double quantum dots CdSe and CdS by SILAR. The CdSe-CdS QDs co-sensitized ZnO hierarchical structures show enhanced light absorption in the entire visible light range. The photovoltaic performance of QDCSs based on CdSe-CdS QDs co-sensitized ZnO hierarchical structures was evaluated. As photoanodes for QDSCs, the CdSe-CdS QDs double-sensitized ZnO hierarchical structures demonstrate an increased Jsc and improved power conversion efficiency of up to 1.39%. Under light illumination, photons are captured by QDs, yielding electron-hole pairs that are rapidly separated into electrons and holes at the interface between the ZnO and the QDs. The electrons are transferred to the conduction band of ZnO and the holes are released by redox couples in the liquid polysulfide (S(2-)/Sx(2-)) electrolyte, resulting in greatly improved photo-electrical conversion efficiency of QDSCs. The results suggest that it is very promising and feasible to enhance light absorption, carrier generation, and effective carrier separation via band engineering by CdSe-CdS QDs co-sensitization, and the method reported here displays a great potential for applications to be scaled up.

  16. Hybrid Testing of Composite Structures with Single-Axis Control

    DEFF Research Database (Denmark)

    Waldbjørn, Jacob Paamand; Høgh, Jacob Herold; Stang, Henrik

    2013-01-01

    Hybrid testing is a substructuring technique where a structure is emulated by modelling a part of it in a numerical model while testing the remainder experimentally. Previous research in hybrid testing has been performed on multi-component structures e.g. damping fixtures, however in this paper a...

  17. Strategy Implementation through Hierarchical Couplings in a Management Control Package : An Explorative Case Study

    NARCIS (Netherlands)

    van der Kolk, Berend; Schokker, Tom

    2016-01-01

    We examine how couplings of management control (MC) elements help to implement an organization’s strategy. Despite prior research stating that couplings between MC elements form fruitful soil for further research, empirical studies in this area are still scarce. We draw on coupling theory to explore

  18. Review of Active and Reactive Power Sharing Strategies in Hierarchical Controlled Microgrids

    DEFF Research Database (Denmark)

    Han, Yang; Li, Hong; Shen, Pan

    2017-01-01

    Microgrids consist of multiple parallel-connected distributed generation (DG) units with coordinated control strategies, which are able to operate in both grid-connected and islanded mode. Microgrids are attracting more and more attention since they can alleviate the stress of main transmission s...

  19. A Novel Nonlinear Optimal Control Approach for the Dynamic Process of a Hybrid Electric Vehicle Equipped with Electromechanical Transmission

    Directory of Open Access Journals (Sweden)

    Changle Xiang

    2015-01-01

    Full Text Available Coordinatively controlling the engine and several motor/generators (MGs during a dynamic process is a challenging problem because they are coupled together by the electromechanical transmission (EMT system and all of them have strong nonlinear characteristics. We develop a novel nonlinear optimal control approach based on the multiobjective dynamic optimization model of the hybrid electric vehicle (HEV, which is equipped with an EMT system. In this approach, the current states of the components are obtained by using the state observation algorithm based on Kalman filtering; the future states of the components and the feasible region of the control variables are estimated by using the dynamic prediction algorithm based on the nonlinear model of the EMT system. Then, the control variables are achieved by using the optimal decision algorithm based on the hierarchical optimization and nonlinear programming, and the influence of the model error and the external disturbance are modified by using the feedback compensation algorithm. The simulation results illustrate the efficiency of the proposed control approach, and the test results verify its real-time performance.

  20. Modeling and sensitivity analysis of consensus algorithm based distributed hierarchical control for dc microgrids

    DEFF Research Database (Denmark)

    Meng, Lexuan; Dragicevic, Tomislav; Vasquez, Juan Carlos

    2015-01-01

    of dynamic study. The aim of this paper is to model the complete DC microgrid system in z-domain and perform sensitivity analysis for the complete system. A generalized modeling method is proposed and the system dynamics under different control parameters, communication topologies and communication speed......Distributed control methods for microgrid systems become a popular topic in recent years. Distributed algorithms, such as consensus algorithms, can be applied for distributed information sharing. However, by using this kind of algorithms the stability analysis becomes a critical issue since...... the dynamics of electrical and communication systems interact with each other. Apart from that, the communication characteristics also affect the dynamics of the system. Due to discrete nature of information exchange in communication network, Laplace domain analysis is not accurate enough for this kind...

  1. Hierarchical tailoring of strut architecture to control permeability of additive manufactured titanium implants.

    Science.gov (United States)

    Zhang, Z; Jones, D; Yue, S; Lee, P D; Jones, J R; Sutcliffe, C J; Jones, E

    2013-10-01

    Porous titanium implants are a common choice for bone augmentation. Implants for spinal fusion and repair of non-union fractures must encourage blood flow after implantation so that there is sufficient cell migration, nutrient and growth factor transport to stimulate bone ingrowth. Additive manufacturing techniques allow a large number of pore network designs. This study investigates how the design factors offered by selective laser melting technique can be used to alter the implant architecture on multiple length scales to control and even tailor the flow. Permeability is a convenient parameter that characterises flow, correlating to structure openness (interconnectivity and pore window size), tortuosity and hence flow shear rates. Using experimentally validated computational simulations, we demonstrate how additive manufacturing can be used to tailor implant properties by controlling surface roughness at a microstructual level (microns), and by altering the strut ordering and density at a mesoscopic level (millimetre). Copyright © 2013 The Authors. Published by Elsevier B.V. All rights reserved.

  2. Reactive Power Management in Islanded Microgrid – Proportional Power Sharing in Hierarchical Droop Control

    OpenAIRE

    Milczarek, Adam; Malinowski, Mariusz; Guerrero, Josep M.

    2015-01-01

    A microgrid (MG) is a local energy system consisting a number of energy sources (e.g. wind turbine or solar panels among others), energy storage units and loads that operate connected to the main electrical grid or autonomously. MGs provide flexibility, reduce the main electricity grid dependence and contribute to change the large centralized production paradigm to local and distributed generation. However, such energy systems require complex management, advanced control and optimization. Mor...

  3. Electric and hybrid vehicle environmental control subsystem study. Final report

    Energy Technology Data Exchange (ETDEWEB)

    Heitner, K. L.

    1980-12-04

    The purpose of this study is to select the best technologies for the environmental control subsystem (ECS) for interior heating and cooling in electric and hybrid vehicles. The best technology must be selected from technologies that are available in the near term. The selected technology will serve as a basis on which development of a prototype ECS could start immediately. The technology selected as best ECS for the electric vehicle is the combination of a combustion heater and gasoline engine (Otto cycle) driven vapor compression air conditioner. All of the major ECS components, i.e., the combustion heater, the small gasoline engine, and the vapor compression air conditioner are commercially available. These technologies have good cost and performance characteristics. The cost for this best ECS is relatively close to the cost of current ECS's. At the same time, its effect on the vehicle's propulsion battery is minimal and the ECS size and weight do not have significant impact on the vehicle's range. The required technology also minimizes risk for the vehicle manufacturer because little new capital investment will be needed to produce the ECS. Since electric vehicles are likely to be in limited production for several years, the technology is appropriate for the market size.

  4. Static-dynamic hybrid communication scheduling and control co-design for networked control systems.

    Science.gov (United States)

    Wen, Shixi; Guo, Ge

    2017-11-01

    In this paper, the static-dynamic hybrid communication scheduling and control co-design is proposed for the networked control systems (NCSs) to solve the capacity limitation of the wireless communication network. The analytical most regular binary sequences (MRBSs) are used as the communication scheduling function for NCSs. When the communication conflicts yielded in the binary sequence MRBSs, a dynamic scheduling strategy is proposed to on-line reallocate the medium access status for each plant. Under such static-dynamic hybrid scheduling policy, plants in NCSs are described as the non-uniform sampled-control systems, whose controller have a group of controller gains and switch according to the sampling interval yielded by the binary sequence. A useful communication scheduling and control co-design framework is proposed for the NCSs to simultaneously decide the controller gains and the parameters used to generate the communication sequences MRBS. Numerical example and realistic example are respectively given to demonstrate the effectiveness of the proposed co-design method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  5. A hybrid stability-control system: combining direct-yaw-moment control and G-Vectoring Control

    Science.gov (United States)

    Takahashi, Junya; Yamakado, Makoto; Saito, Shinjiro; Yokoyama, Atsushi

    2012-06-01

    In this study, a 'hybrid stability-control' system based on two concepts - G-Vectoring Control (GVC) and direct-yaw-moment control (DYC) - was developed. This system controls deceleration according to the information on vehicle lateral jerk and yaw moment according to the information on vehicle sideslip. It reduces the tendency to understeer by applying deceleration via GVC and reduces the tendency to oversteer by adding yaw moment via DYC. The tests with a vehicle fitted with this new GVC/DYC hybrid control confirmed that understeer can be reduced significantly more than that possible with conventional DYC only. It is concluded that this greater understeer reduction is a result of GVC preventing understeer prior to the skidding of the vehicle.

  6. Active Power Quality Improvement Strategy for Grid-connected Microgrid Based on Hierarchical Control

    DEFF Research Database (Denmark)

    Wei, Feng; Sun, Kai; Guan, Yajuan

    2017-01-01

    of the inverter. Consequently, the voltage difference between the PCC and the system bus decreased. In addition, we established a system model for parameter margin and stability analyses. Finally, the simulation and experiment results from a scaled-down laboratory prototype were presented to verify the validity......When connected to a distorted grid utility, droop-controlled grid-connected microgrids (DCGC-MG) exhibit low equivalent impedance. The harmonic and unbalanced voltage at the point of common coupling (PCC) deteriorates the power quality of the grid-connected current (GCC) of DCGC-MG. This work...

  7. Hierarchical Control of Nitrite Respiration by Transcription Factors Encoded within Mobile Gene Clusters of Thermus thermophilus.

    Science.gov (United States)

    Alvarez, Laura; Quintáns, Nieves G; Blesa, Alba; Baquedano, Ignacio; Mencía, Mario; Bricio, Carlos; Berenguer, José

    2017-12-01

    Denitrification in Thermus thermophilus is encoded by the nitrate respiration conjugative element (NCE) and nitrite and nitric oxide respiration (nic) gene clusters. A tight coordination of each cluster's expression is required to maximize anaerobic growth, and to avoid toxicity by intermediates, especially nitric oxides (NO). Here, we study the control of the nitrite reductases (Nir) and NO reductases (Nor) upon horizontal acquisition of the NCE and nic clusters by a formerly aerobic host. Expression of the nic promoters PnirS, PnirJ, and PnorC, depends on the oxygen sensor DnrS and on the DnrT protein, both NCE-encoded. NsrR, a nic-encoded transcription factor with an iron-sulfur cluster, is also involved in Nir and Nor control. Deletion of nsrR decreased PnorC and PnirJ transcription, and activated PnirS under denitrification conditions, exhibiting a dual regulatory role never described before for members of the NsrR family. On the basis of these results, a regulatory hierarchy is proposed, in which under anoxia, there is a pre-activation of the nic promoters by DnrS and DnrT, and then NsrR leads to Nor induction and Nir repression, likely as a second stage of regulation that would require NO detection, thus avoiding accumulation of toxic levels of NO. The whole system appears to work in remarkable coordination to function only when the relevant nitrogen species are present inside the cell.

  8. Admission Control for Multiservices Traffic in Hierarchical Mobile IPv6 Networks by Using Fuzzy Inference System

    Directory of Open Access Journals (Sweden)

    Jung-Shyr Wu

    2012-01-01

    Full Text Available CAC (Call Admission Control plays a significant role in providing QoS (Quality of Service in mobile wireless networks. In addition to much research that focuses on modified Mobile IP to get better efficient handover performance, CAC should be introduced to Mobile IP-based network to guarantee the QoS for users. In this paper, we propose a CAC scheme which incorporates multiple traffic types and adjusts the admission threshold dynamically using fuzzy control logic to achieve better usage of resources. The method can provide QoS in Mobile IPv6 networks with few modifications on MAP (Mobility Anchor Point functionality and slight change in BU (Binding Update message formats. According to the simulation results, the proposed scheme presents good performance of voice and video traffic at the expenses of poor performance on data traffic. It is evident that these CAC schemes can reduce the probability of the handoff dropping and the cell overload and limit the probability of the new call blocking.

  9. Building on the Enriched Hierarchical Model of Achievement Motivation: Autonomous and Controlling Reasons Underlying Mastery Goals

    Directory of Open Access Journals (Sweden)

    Aikaterini Michou

    2016-07-01

    Full Text Available Two motivational theories – the Achievement Goal Theory and Self-Determination Theory – have recently been combined to explain students’ motivation, making it possible to study the “what” and the “why” of learners’ achievement strivings. The present study built on this approach by (a investigating whether the distinction between autonomous or volitional and controlling or pressuring reasons can be meaningfully applied to the adoption of mastery-avoidance goals, (b investigating the concurrent and prospective relations between mastery-avoidance goals and their underlying reasons and learning strategies when mastery-approach goals and their underlying reasons were also considered, and by (c incorporating psychological need experiences as an explanatory variable in the relation between achievement motives (i.e., the motive to succeed and motive to avoid failure and both mastery goals and their underlying reasons. In two Turkish university students samples ('N' = 226, 'Mage '= 22.36; 'N' = 331, 'Mage '= 19.5, autonomous and controlling reasons appeared applicable to mastery-avoidance goals and regression and path analysis further showed that mastery-avoidance goals and their underlying autonomous reasons fail to predicted learning strategies over and above the pursuit of mastery-approach goals and their underlying reasons. Finally, need experiences were established as mediators between achievement motives and both mastery goals and their underlying reasons.

  10. Controlled lecithin release from a hierarchical architecture on blood-contacting surface to reduce hemolysis of stored red blood cells.

    Science.gov (United States)

    Shi, Qiang; Fan, Qunfu; Ye, Wei; Hou, Jianwen; Wong, Shing-Chung; Xu, Xiaodong; Yin, Jinghua

    2014-06-25

    Hemolysis of red blood cells (RBCs) caused by implant devices in vivo and nonpolyvinyl chloride containers for RBC preservation in vitro has recently gained much attention. To develop blood-contacting biomaterials with long-term antihemolysis capability, we present a facile method to construct a hydrophilic, 3D hierarchical architecture on the surface of styrene-b-(ethylene-co-butylene)-b-styrene elastomer (SEBS) with poly(ethylene oxide) (PEO)/lecithin nano/microfibers. The strategy is based on electrospinning of PEO/lecithin fibers onto the surface of poly [poly(ethylene glycol) methyl ether methacrylate] [P(PEGMEMA)]-modified SEBS, which renders SEBS suitable for RBC storage in vitro. We demonstrate that the constructed 3D architecture is composed of hydrophilic micro- and nanofibers, which transforms to hydrogel networks immediately in blood; the controlled release of lecithin is achieved by gradual dissolution of PEO/lecithin hydrogels, and the interaction of lecithin with RBCs maintains the membrane flexibility and normal RBC shape. Thus, the blood-contacting surface reduces both mechanical and oxidative damage to RBC membranes, resulting in low hemolysis of preserved RBCs. This work not only paves new way to fabricate high hemocompatible biomaterials for RBC storage in vitro, but provides basic principles to design and develop antihemolysis biomaterials for implantation in vivo.

  11. Modeling and Sensitivity Study of Consensus Algorithm-Based Distributed Hierarchical Control for DC Microgrids

    DEFF Research Database (Denmark)

    Meng, Lexuan; Dragicevic, Tomislav; Roldan Perez, Javier

    2016-01-01

    in the communication network, continuous-time methods can be inaccurate for this kind of dynamic study. Therefore, this paper aims at modeling a complete DC MG using a discrete-time approach in order to perform a sensitivity analysis taking into account the effects of the consensus algorithm. To this end...... a challenging issue when these kinds of algorithms are used, since the dynamics of the electrical and the communication systems interact with each other. Moreover, the transmission rate and topology of the communication network also affect the system dynamics. Due to discrete nature of the information exchange......, a generalized modeling method is proposed and the influence of key control parameters, the communication topology and the communication speed are studied in detail. The theoretical results obtained with the proposed model are verified by comparing them with the results obtained with a detailed switching...

  12. Control and verification of industrial hybrid systems using models specified with the formalism $ chi $

    NARCIS (Netherlands)

    J.J.H. Fey

    1996-01-01

    textabstractControl and verification of hybrid systems is studied using two industrial examples. The hybrid models of a conveyor-belt and of a biochemical plant for the production of ethanol are specified in the formalism $chi .$ A verification of the closed-loop systems for those examples,

  13. Hybrid architecture active wavefront sensing and control system, and method

    Science.gov (United States)

    Feinberg, Lee D. (Inventor); Dean, Bruce H. (Inventor); Hyde, Tristram T. (Inventor)

    2011-01-01

    According to various embodiments, provided herein is an optical system and method that can be configured to perform image analysis. The optical system can comprise a telescope assembly and one or more hybrid instruments. The one or more hybrid instruments can be configured to receive image data from the telescope assembly and perform a fine guidance operation and a wavefront sensing operation, simultaneously, on the image data received from the telescope assembly.

  14. An Adaptive Neuro Fuzzy Hybrid Control Strategy for a Semiactive Suspension with Magneto Rheological Damper

    Directory of Open Access Journals (Sweden)

    Pipit Wahyu Nugroho

    2014-04-01

    Full Text Available The main function of a vehicle suspension system is to isolate the vehicle body from external excitation in order to improve passenger comfort and road holding and to stabilise its movement. This paper considers the implementation of an adaptive neuro fuzzy inference system (ANFIS with a fuzzy hybrid control technique to control a quarter vehicle suspension system with a semiactive magneto rheological (MR damper. A quarter car suspension model is set up with an MR damper and a semiactive controller consisting of a fuzzy hybrid skyhook-groundhook controller and an ANFIS model is also designed. The fuzzy hybrid controller is used to generate the desired control force, and the ANFIS is designed to model the inverse dynamics of MR damper in order to obtain a desired current. Finally, numerical simulations of the semiactive suspensions with the ANFIS-hybrid controller, the traditional hybrid controller, and passive suspension are compared. The results of simulations show that the proposed ANFIS-hybrid controller provides better isolation performance than the other controllers.

  15. A multidisciplinary coupling relationship coordination algorithm using the hierarchical control methods of complex systems and its application in multidisciplinary design optimization

    Directory of Open Access Journals (Sweden)

    Rong Yuan

    2016-12-01

    Full Text Available Because of the increasing complexity in engineering systems, multidisciplinary design optimization has attracted increasing attention. High computational expense and organizational complexity are two main challenges of multidisciplinary design optimization. To address these challenges, the hierarchical control method of complex systems is developed in this study. Hierarchical control method is a powerful way which has been utilized widely in the control and coordination of large-scale complex systems. Here, a hierarchical control method–based coupling relationship coordination algorithm is proposed to solve multidisciplinary design optimization problems. Coupling relationship coordination algorithm decouples the involved disciplines of a complex system and then optimizes each discipline objective at sub-system level. Coupling relationship coordination algorithm can maintain the consistency of interaction information (or in other words, sharing design variables and coupling design variables in different disciplines by introducing control parameters. The control parameters are assigned by the coordinator at system level. A mechanical structure multidisciplinary design optimization problem is solved to illustrate the details of the proposed approach.

  16. Fuzzy logic controller versus classical logic controller for residential hybrid solar-wind-storage energy system

    Energy Technology Data Exchange (ETDEWEB)

    Derrouazin, A., E-mail: derrsid@gmail.com [University Hassiba BenBouali of Chlef, LGEER,Chlef (Algeria); Université de Lorraine, LMOPS, EA 4423, 57070 Metz (France); CentraleSupélec, LMOPS, 57070 Metz (France); Aillerie, M., E-mail: aillerie@metz.supelec.fr; Charles, J. P. [Université de Lorraine, LMOPS, EA 4423, 57070 Metz (France); CentraleSupélec, LMOPS, 57070 Metz (France); Mekkakia-Maaza, N. [Université des sciences et de la Technologie d’Oran, Mohamed Boudiaf-USTO MB,LMSE, Oran Algérie (Algeria)

    2016-07-25

    Several researches for management of diverse hybrid energy systems and many techniques have been proposed for robustness, savings and environmental purpose. In this work we aim to make a comparative study between two supervision and control techniques: fuzzy and classic logics to manage the hybrid energy system applied for typical housing fed by solar and wind power, with rack of batteries for storage. The system is assisted by the electric grid during energy drop moments. A hydrogen production device is integrated into the system to retrieve surplus energy production from renewable sources for the household purposes, intending the maximum exploitation of these sources over years. The models have been achieved and generated signals for electronic switches command of proposed both techniques are presented and discussed in this paper.

  17. Fuzzy logic controller versus classical logic controller for residential hybrid solar-wind-storage energy system

    Science.gov (United States)

    Derrouazin, A.; Aillerie, M.; Mekkakia-Maaza, N.; Charles, J. P.

    2016-07-01

    Several researches for management of diverse hybrid energy systems and many techniques have been proposed for robustness, savings and environmental purpose. In this work we aim to make a comparative study between two supervision and control techniques: fuzzy and classic logics to manage the hybrid energy system applied for typical housing fed by solar and wind power, with rack of batteries for storage. The system is assisted by the electric grid during energy drop moments. A hydrogen production device is integrated into the system to retrieve surplus energy production from renewable sources for the household purposes, intending the maximum exploitation of these sources over years. The models have been achieved and generated signals for electronic switches command of proposed both techniques are presented and discussed in this paper.

  18. Hybrid Electric Vehicle Experimental Model with CAN Network Real Time Control

    Directory of Open Access Journals (Sweden)

    RATOI, M.

    2010-05-01

    Full Text Available In this paper an experimental model with a distributed control system of a hybrid electrical vehicle is presented. A communication CAN network of high speed (1 Mbps assures a distributed control of the all components. The modeling and the control of different operating regimes are realized on an experimental test-bench of a hybrid electrical vehicle. The experimental results concerning the variations of the mains variables (currents, torques, speeds are presented.

  19. Facile Fabrication of Hierarchically Thermoresponsive Binary Polymer Pattern for Controlled Cell Adhesion.

    Science.gov (United States)

    Hou, Jianwen; Cui, Lele; Chen, Runhai; Xu, Xiaodong; Chen, Jiayue; Yin, Ligang; Liu, Jingchuan; Shi, Qiang; Yin, Jinghua

    2018-01-04

    A versatile platform allowing capture and detection of normal and dysfunctional cells on the same patterned surface is important for accessing the cellular mechanism, developing diagnostic assays, and implementing therapy. Here, an original and effective method for fabricating binary polymer brushes pattern is developed for controlled cell adhesion. The binary polymer brushes pattern, composed of poly(N-isopropylacrylamide) (PNIPAAm) and poly[poly(ethylene glycol) methyl ether methacrylate] (POEGMA) chains, is simply obtained via a combination of surface-initiated photopolymerization and surface-activated free radical polymerization. This method is unique in that it does not utilize any protecting groups or procedures of backfilling with immobilized initiator. It is demonstrated that the precise and well-defined binary polymer patterns with high resolution are fabricated using this facile method. PNIPAAm chains capture and release cells by thermoresponsiveness, while POEGMA chains possess high capability to capture dysfunctional cells specifically, inducing a switch of normal red blood cells (RBCs) arrays to hemolytic RBCs arrays on the pattern with temperature. This novel platform composed of binary polymer brush pattern is smart and versatile, which opens up pathways to potential applications as microsensors, biochips, and bioassays. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  20. Design of hybrid sliding mode controller based on fireworks algorithm for nonlinear inverted pendulum systems

    Directory of Open Access Journals (Sweden)

    Te-Jen Su

    2016-12-01

    Full Text Available The objective of this article is to optimize parameters of a hybrid sliding mode controller based on fireworks algorithm for a nonlinear inverted pendulum system. The proposed controller is a combination of two modified types of the classical sliding mode controller, namely, baseline sliding mode controller and fast output sampling discrete sliding mode controller. The simulation process is carried out with MATLAB/Simulink. The results are compared with a published hybrid method using proportional–integral–derivative and linear quadratic regulator controllers. The simulation results show a better performance of the proposed controller.

  1. Optimal fuzzy power control and management of fuel cell/battery hybrid vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Li, Chun-Yan [Institute of Automation, Chinese Academy of Sciences, 95 Zhongguancun East Road, Beijing 100190 (China); Liu, Guo-Ping [Faculty of Advanced Technology, University of Glamorgan (United Kingdom); Center for Control Theory and Guidance Technology, Harbin Institute of Technology (China)

    2009-07-15

    Hybrid electric vehicles powered by fuel cells have been focused for alternative powertrains due to their high efficiency and low emission. The relative engine sizing and power split strategy of different power sources have great effect in influencing the fuel economy. In this paper, for a given driving cycle, the overall efficiency of a fuel cell/battery hybrid vehicle is maximized by identifying the best degree of hybridization (DOH) and a power control strategy. Fuzzy logic is used in power distribution of the hybrid vehicle, where the optimized centers and widths of membership functions are found by optimization. Simulation results show that the optimally designed and controlled hybrid vehicle can provide good fuel economy and overall system efficiency. (author)

  2. Hierarchical Robot Control System and Method for Controlling Select Degrees of Freedom of an Object Using Multiple Manipulators

    Science.gov (United States)

    Abdallah, Muhammad E. (Inventor); Platt, Robert (Inventor); Wampler, II, Charles W. (Inventor)

    2013-01-01

    A robotic system includes a robot having manipulators for grasping an object using one of a plurality of grasp types during a primary task, and a controller. The controller controls the manipulators during the primary task using a multiple-task control hierarchy, and automatically parameterizes the internal forces of the system for each grasp type in response to an input signal. The primary task is defined at an object-level of control, e.g., using a closed-chain transformation, such that only select degrees of freedom are commanded for the object. A control system for the robotic system has a host machine and algorithm for controlling the manipulators using the above hierarchy. A method for controlling the system includes receiving and processing the input signal using the host machine, including defining the primary task at the object-level of control, e.g., using a closed-chain definition, and parameterizing the internal forces for each of grasp type.

  3. Requirements for Control Room Computer-Based Procedures for use in Hybrid Control Rooms

    Energy Technology Data Exchange (ETDEWEB)

    Le Blanc, Katya Lee [Idaho National Lab. (INL), Idaho Falls, ID (United States); Oxstrand, Johanna Helene [Idaho National Lab. (INL), Idaho Falls, ID (United States); Joe, Jeffrey Clark [Idaho National Lab. (INL), Idaho Falls, ID (United States)

    2015-05-01

    Many plants in the U.S. are currently undergoing control room modernization. The main drivers for modernization are the aging and obsolescence of existing equipment, which typically results in a like-for-like replacement of analogue equipment with digital systems. However, the modernization efforts present an opportunity to employ advanced technology that would not only extend the life, but enhance the efficiency and cost competitiveness of nuclear power. Computer-based procedures (CBPs) are one example of near-term advanced technology that may provide enhanced efficiencies above and beyond like for like replacements of analog systems. Researchers in the LWRS program are investigating the benefits of advanced technologies such as CBPs, with the goal of assisting utilities in decision making during modernization projects. This report will describe the existing research on CBPs, discuss the unique issues related to using CBPs in hybrid control rooms (i.e., partially modernized analog control rooms), and define the requirements of CBPs for hybrid control rooms.

  4. Risk-sensitive control of stochastic hybrid systems on infinite time horizon

    National Research Council Canada - National Science Library

    Runolfsson, Thordur

    2000-01-01

    A risk-sensitive optimal control problem is considered for a hybrid system that consists of continuous time diffusion process that depends on a discrete valued mode variable that is modeled as a Markov chain...

  5. Risk-sensitive control of stochastic hybrid systems on infinite time horizon

    National Research Council Canada - National Science Library

    Runolfsson Thordur

    1999-01-01

    A risk-sensitive optimal control problem is considered for a hybrid system that consists of continuous time diffusion process that depends on a discrete valued mode variable that is modeled as a Markov chain...

  6. Hybrid Multi-Layer Network Control for Emerging Cyber-Infrastructures

    Energy Technology Data Exchange (ETDEWEB)

    Summerhill, Richard [Internet2, Washington, DC (United States); Lehman, Tom [Univ. of Southern California, Los Angeles, CA (United States). Information Sciences Inst. (ISI); Ghani, Nasir [Univ. of New Mexico, Albuquerque, NM (United States). Dept. of Electrical & Computer Engineering; Boyd, Eric [Univ. Corporation for Advanced Internet Development (UCAID), Washington, DC (United States)

    2009-08-14

    There were four basic task areas identified for the Hybrid-MLN project. They are: Multi-Layer, Multi-Domain, Control Plane Architecture and Implementation; Heterogeneous DataPlane Testing; Simulation; Project Publications, Reports, and Presentations.

  7. Quality control and in-service inspection technology for hybrid-composite girder bridges.

    Science.gov (United States)

    2014-08-01

    This report describes efforts to develop quality control tools and in-service inspection technologies for the fabrication and construction of Hybrid Composite Beams (HCBs). HCBs are a new bridge technology currently being evaluated by the Missouri De...

  8. Conic Sector Analysis of Hybrid Control Systems. Ph.D. Thesis

    Science.gov (United States)

    Thompson, P. M.

    1982-01-01

    A hybrid control system contains an analog plant and a hybrid (or sampled-data) compensator. In this thesis a new conic sector is determined which is constructive and can be used to: (1) determine closed loop stability, (2) analyze robustness with respect to modelling uncertainties, (3) analyze steady state response to commands, and (4) select the sample rate. The use of conic sectors allows the designer to treat hybrid control systems as though they were analog control systems. The center of the conic sector can be used as a rigorous linear time invariant approximation of the hybrid control system, and the radius places a bound on the errors of this approximation. The hybrid feedback system can be multivariable, and the sampler is assumed to be synchronous. Algorithms to compute the conic sector are presented. Several examples demonstrate how the conic sector analysis techniques are applied. Extensions to single loop multirate hybrid feedback systems are presented. Further extensions are proposed for multiloop multirate hybrid feedback system and for single rate systems with asynchronous sampling.

  9. A deep learning / neuroevolution hybrid for visual control

    DEFF Research Database (Denmark)

    Poulsen, Andreas Precht; Thorhauge, Mark; Funch, Mikkel Hvilshj

    2017-01-01

    This paper presents a deep learning / neuroevolution hybrid approach called DLNE, which allows FPS bots to learn to aim & shoot based only on high-dimensional raw pixel input. The deep learning component is responsible for visual recognition and translating raw pixels to compact feature...... representations, while the evolving network takes those features as inputs to infer actions. The results suggest that combining deep learning and neuroevolution in a hybrid approach is a promising research direction that could make complex visual domains directly accessible to networks trained through evolution....

  10. Hybrid Control of a Two-Wheeled Automatic-Balancing Robot with Backlash Feature

    DEFF Research Database (Denmark)

    Løhndorf, Petar Durdevic; Yang, Zhenyu

    2013-01-01

    This paper investigates the application of hybrid control for an automatic balancing robot system subject to backlash effect. The developed controller is a type of sliding mode controller, refereed to as a switching controller, with respect to different situations i.e., whether the backlash is pr...

  11. A hybrid intelligent system for PID controller using in a steel rolling process

    OpenAIRE

    Calvo Rolle, José L..; Casteleiro Roca, José L.; Quintián Pardo, Héctor; Meizoso López, M.Carmen

    2017-01-01

    With the aim to improve the steel rolling process performance, this research presents a novel hybrid system for selecting the best parameters for tuning in open loop a PID controller. The novel hybrid system combines rule based system and Artificial Neural Networks. With the rule based system, it is modeled the existing knowledge of the PID controller tuning in open loop and, with Artificial Neural Network, it is completed the rule based model that allow to choose the optimal parameters for t...

  12. LQR-Based Power Train Control Method Design for Fuel Cell Hybrid Vehicle

    OpenAIRE

    Yun Haitao; Zhao Yulan; Liu Zunnian; Hao Kui

    2013-01-01

    Based on the mathematical model of fuel cell hybrid vehicle (FCHV) proposed in our previous study, a multistate feedback control strategy of the hybrid power train is designed based on the linear quadratic regulator (LQR) algorithm. A Kalman Filter (KF) observer is introduced to estimate state of charge (SOC) of the battery firstly, and then a linear quadratic regulator is constructed to compute the state feedback gain matrix of the closed-loop control system. At last, simulation and actual t...

  13. Control and fault diagnosis based sliding mode observer of a multicellular converter: Hybrid approach

    KAUST Repository

    Benzineb, Omar

    2013-01-01

    In this article, the diagnosis of a three cell converter is developed. The hybrid nature of the system represented by the presence of continuous and discrete dynamics is taken into account in the control design. The idea is based on using a hybrid control and an observer-type sliding mode to generate residuals from the observation errors of the system. The simulation results are presented at the end to illustrate the performance of the proposed approach. © 2013 FEI STU.

  14. Intelligent controller of a flexible hybrid robot machine for ITER assembly and maintenance

    Energy Technology Data Exchange (ETDEWEB)

    Al-saedi, Mazin I., E-mail: mazin.al-saedi@lut.fi; Wu, Huapeng; Handroos, Heikki

    2014-10-15

    Highlights: • Studying flexible multibody dynamic of hybrid parallel robot. • Investigating fuzzy-PD controller to control a hybrid flexible hydraulically driven robot. • Investigating ANFIS-PD controller to control a hybrid flexible robot. Compare to traditional PID this method gives better performance. • Using the equilibrium of reaction forces between the parallel and serial parts of hybrid robot to control the serial part hydraulically driven. - Abstract: The assembly and maintenance of International Thermonuclear Experimental Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by the robot involve welding, material handling, and machine cutting from inside the VV. To fulfill the tasks in ITER application, this paper presents a hybrid redundant manipulator with four DOFs provided by serial kinematic axes and six DOFs by parallel mechanism. Thus, in machining, to achieve greater end-effector trajectory tracking accuracy for surface quality, a robust control of the actuators for the flexible link has to be deduced. In this paper, the intelligent control of a hydraulically driven parallel robot part based on the dynamic model and two control schemes have been investigated: (1) fuzzy-PID self tuning controller composed of the conventional PID control and with fuzzy logic; (2) adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self tuning of the gains of the PID controller, which are implemented independently to control each hydraulic cylinder of the parallel robot based on rod position predictions. The obtained results of the fuzzy-PID and ANFIS-PID self tuning controller can reduce more tracking errors than the conventional PID controller. Subsequently, the serial component of the hybrid robot can be analyzed using the equilibrium of reaction forces at the universal joint connections of the hexa-element. To achieve precise positional control of the end effector for maximum precision machining, the hydraulic cylinder should

  15. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking...

  16. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    2003-01-01

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking...

  17. Predictive control strategies for energy saving of hybrid electric vehicles based on traffic light information

    Directory of Open Access Journals (Sweden)

    Kaijiang YU

    2015-10-01

    Full Text Available As the conventional control method for hybrid electric vehicle doesn’t consider the effect of known traffic light information on the vehicle energy management, this paper proposes a model predictive control intelligent optimization strategies based on traffic light information for hybrid electric vehicles. By building the simplified model of the hybrid electric vehicle and adopting the continuation/generalized minimum residual method, the model prediction problem is solved. The simulation is conducted by using MATLAB/Simulink platform. The simulation results show the effectiveness of the proposed model of the traffic light information, and that the proposed model predictive control method can improve fuel economy and the real-time control performance significantly. The research conclusions show that the proposed control strategy can achieve optimal control of the vehicle trajectory, significantly improving fuel economy of the vehicle, and meet the system requirements for the real-time optimal control.

  18. Non-linear hybrid control oriented modelling of a digital displacement machine

    DEFF Research Database (Denmark)

    Pedersen, Niels Henrik; Johansen, Per; Andersen, Torben O.

    2017-01-01

    Proper feedback control of digital fluid power machines (Pressure, flow, torque or speed control) requires a control oriented model, from where the system dynamics can be analyzed, stability can be proven and design criteria can be specified. The development of control oriented models for hydraul...... Transmission (DFPT) comprising two variable speed DDM’s with asynchronous control sampling schemes. A validation with respect to a non-linear dynamical model representing the physical system, shows the usefulness of the hybrid model with respect to feedback control development........ In this paper, a control oriented hybrid model is established, which combines the continuous non-linear pressure chamber dynamics and the discrete shaft position dependent activation of the pressure chambers. The hybrid machine model is further extended to describe the dynamics of a Digital Fluid Power...

  19. Method and apparatus for controlling battery charging in a hybrid electric vehicle

    Science.gov (United States)

    Phillips, Anthony Mark; Blankenship, John Richard; Bailey, Kathleen Ellen; Jankovic, Miroslava

    2003-06-24

    A starter/alternator system (24) for hybrid electric vehicle (10) having an internal combustion engine (12) and an energy storage device (34) has a controller (30) coupled to the starter/alternator (26). The controller (30) has a state of charge manager (40) that monitors the state of charge of the energy storage device. The controller has eight battery state-of-charge threshold values that determine the hybrid operating mode of the hybrid electric vehicle. The value of the battery state-of-charge relative to the threshold values is a factor in the determination of the hybrid mode, for example; regenerative braking, charging, battery bleed, boost. The starter/alternator may be operated as a generator or a motor, depending upon the mode.

  20. Hierarchically Structured Electrospun Fibers

    Directory of Open Access Journals (Sweden)

    Nicole E. Zander

    2013-01-01

    Full Text Available Traditional electrospun nanofibers have a myriad of applications ranging from scaffolds for tissue engineering to components of biosensors and energy harvesting devices. The generally smooth one-dimensional structure of the fibers has stood as a limitation to several interesting novel applications. Control of fiber diameter, porosity and collector geometry will be briefly discussed, as will more traditional methods for controlling fiber morphology and fiber mat architecture. The remainder of the review will focus on new techniques to prepare hierarchically structured fibers. Fibers with hierarchical primary structures—including helical, buckled, and beads-on-a-string fibers, as well as fibers with secondary structures, such as nanopores, nanopillars, nanorods, and internally structured fibers and their applications—will be discussed. These new materials with helical/buckled morphology are expected to possess unique optical and mechanical properties with possible applications for negative refractive index materials, highly stretchable/high-tensile-strength materials, and components in microelectromechanical devices. Core-shell type fibers enable a much wider variety of materials to be electrospun and are expected to be widely applied in the sensing, drug delivery/controlled release fields, and in the encapsulation of live cells for biological applications. Materials with a hierarchical secondary structure are expected to provide new superhydrophobic and self-cleaning materials.

  1. Power Source Status Estimation and Drive Control Method for Autonomous Decentralized Hybrid Train

    Science.gov (United States)

    Furuya, Takemasa; Ogawa, Kenichi; Yamamoto, Takamitsu; Hasegawa, Hitoshi

    A hybrid control system has two main functions: power sharing and equipment protection. In this paper, we discuss the design, construction and testing of a drive control method for an autonomous decentralized hybrid train with 100-kW-class fuel cells (FC) and 36-kWh lithium-ion batteries (Li-Batt). The main objectives of this study are to identify the operation status of the power sources on the basis of the input voltage of the traction inverter and to estimate the maximum traction power control basis of the power-source status. The proposed control method is useful in preventing overload operation of the onboard power sources in an autonomous decentralized hybrid system that has a flexible main circuit configuration and a few control signal lines. Further, with this method, the initial cost of a hybrid system can be reduced and the retrofit design of the hybrid system can be simplified. The effectiveness of the proposed method is experimentally confirmed by using a real-scale hybrid train system.

  2. Hierarchical classification as relational framing.

    Science.gov (United States)

    Slattery, Brian; Stewart, Ian

    2014-01-01

    The purpose of this study was to model hierarchical classification as contextually controlled, generalized relational responding or relational framing. In Experiment 1, a training procedure involving nonarbitrarily related multidimensional stimuli was used to establish two arbitrary shapes as contextual cues for 'member of' and 'includes' relational responding, respectively. Subsequently those cues were used to establish a network of arbitrary stimuli in particular hierarchical relations with each other, and then test for derivation of further untrained hierarchical relations as well as for transformation of functions. Resultant patterns of relational framing showed properties of transitive class containment, asymmetrical class containment, and unilateral property induction, consistent with conceptions of hierarchical classification as described within the cognitive developmental literature. Experiment 2 extended the basic model by using "fuzzy category" stimuli and providing a better controlled test of transformation of functions. Limitations and future research directions are discussed. © Society for the Experimental Analysis of Behavior.

  3. Spin-glass behavior of a hierarchically-organized, hybrid microporous material, based on an extended framework of octanuclear iron-oxo units.

    Science.gov (United States)

    Cao, Xin-Yi; Hubbard, Jeremiah W; Guerrero-Medina, Jennifer; Hernández-Maldonado, Arturo J; Mathivathanan, Logesh; Rinaldi, Carlos; Sanakis, Yiannis; Raptis, Raphael G

    2015-02-21

    Inspired by the stepwise addition of octanuclear iron units into mammalian ferritin, a "stop-and-go" synthesis strategy was used to prepare two microporous (Langmuir surface area, 490 m(2) g(-1); effective pore size, 4-5 Å) hierarchical materials {[Fe8(μ4-O)4(μ-pz)12Cl0.3(μ-O)1.85}n () and {[Fe8(μ4-O)4(μ-4-Me-pz)12Cl0.4(μ-O)1.8}n (), which are new members of the EO2 family of polymeric materials (E = C, Si and Ge). The secondary building units (SBUs) E = [Fe8(μ4-O)4(μ-4-R-pz)12] (Fe8) are nanoscale pseudo-spherical clusters, rather than single atoms, forming μ-oxo Fe-O-Fe linkages between Fe8-SBUs. The characteristic Fe-O-Fe asymmetric stretching mode in the infrared (IR) spectra of these compounds appearing at around 800 cm(-1) suggest the formation of approximately linear μ-oxo Fe-O-Fe linkages between Fe8-SBUs in and . We employ the concept of continuous random network (CRN) to describe for the first time the framework features of a Fe8-based amorphous materials, in which the average connecting numbers of each Fe8-cluster are ∼3.7 and ∼3.6 for and , respectively. (57)Fe-Mössbauer spectroscopic analysis provides insights to the intercluster connectivity of and on one hand and to their magnetic properties on the other, evident by a magnetic split sextet below 30 K. The combination of Mössbauer spectroscopy and magnetism measurements reveals a spin-glass behavior with Tg of ∼30 K. The hierarchical porous materials and straddle the gap between metal oxides and metal-organic frameworks (MOFs). This study may open an alternative way for the development of multifunctional materials based on high nuclearity metal clusters.

  4. TiO2 with controlled nanoring/nanotube hierarchical structure: Multiabsorption oscillating peaks and photoelectrochemical properties

    Science.gov (United States)

    Sang, Lixia; Zhao, Yangbo; Niu, Youchen; Bai, Guangmei

    2018-02-01

    TiO2 with Nanoring/Nanotube (R/T) hierarchical structure can be prepared by tuning the oxidation time and oxidation voltage in the second step anodization. The resulting multiabsorption oscillating peaks in the visible light region present a strong dependence on the tube length which are derived from the interference of light reflected from the top nanorings and the bottom Ti substrate, and the optical path length in TiO2 R/T hierarchical structure can be estimated as about 2 μm. The tube length of the as-prepared TiO2 photoelectrode affects greatly its saturation photocurrent density, and the different tube-wall thickness can change the photocurrent-saturation potential. Under simulated AM 1.5 irradiation (100 mW/cm2), TiO2 R/T hierarchical structure with tube diameters of 20-40 nm and tube length of about 1.5 μm shows higher photocurrent density and hydrogen production rate at the bias of 0 V (vs. Ag/AgCl). The results from the IPCE plots and I-t curves verify that TiO2 R/T hierarchical structure can exhibit the visible light activity, which is more related to the absorption induced by the defects rather than oscillating peaks. Based on the unique multiple light reflection in TiO2 R/T hierarchical structure, surface treatment will pave a way for the better utilization of oscillating peaks in the visible light region.

  5. Controllable growth of polyaniline nanowire arrays on hierarchical macro/mesoporous graphene foams for high-performance flexible supercapacitors

    Energy Technology Data Exchange (ETDEWEB)

    Yu, Pingping [State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai 201620 (China); Department of Materials Science, Fudan University, Shanghai 200433 (China); Zhao, Xin, E-mail: xzhao@dhu.edu.cn [State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai 201620 (China); Li, Yingzhi [State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai 201620 (China); Zhang, Qinghua, E-mail: qhzhang@dhu.edu.cn [State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai 201620 (China)

    2017-01-30

    Highlights: • Hierarchical porous graphene foam prepared by templating and embossing method.. • Vertically PANI nanowires aligned on interconnected porous graphene sheets. • The fRGO-F/PANI device exhibited 939 F g{sup −1} at 1 A g{sup −1}. • ED and PD of fRGO-F/PANI device was 20.9 Wh kg{sup −1} and 103.2 kW kg{sup −1}. - Abstract: Free-standing hierarchical macro/mesoporous flexible graphene foam have been constructed by rational intergration ofwell dispersed graphene oxide sheets and amino-modified polystyrene (PS) spheres through a facile “templating and embossing” technique. The three dimensional (3D) macro/mesoporous flexible graphene foam not only inherits the uniform porous structures of graphene foam, but also contains hierarchical macro/mesopores on the struts by sacrificing PS spheres and the activation of KOH, which could providing rapid pathways for ionic and electronic transport to high specific capacitance. Vertically polyaniline (PANI) nanowire arrays are then uniformly deposited onto the hierarchical macro/mesoporous graphene foam(fRGO-F/PANI) by a simple in situ polymerization, which show a high specific capacitance of 939 F g{sup −1}. Thanks to the synergistic function of 3D bicontinuous hierarchical porous structure of graphene foam and effective immobilization of PANI nanowires on the struts, the assembled symmetric supercapctior with fRGO-F/PANI as electrodes exhibits a maximum energy density and power density of 20.9 Wh kg{sup −1} and 103.2 kW kg{sup −1}, respectively. Moreover, it also displays an excellent cyclic stability with a 88.7% retention after 5000 cycles.

  6. Epitaxial growth of hetero-Ln-MOF hierarchical single crystals for domain- and orientation-controlled multicolor luminescence 3D coding capability

    Energy Technology Data Exchange (ETDEWEB)

    Pan, Mei; Zhu, Yi-Xuan; Wu, Kai; Chen, Ling; Hou, Ya-Jun; Yin, Shao-Yun; Wang, Hai-Ping; Fan, Ya-Nan [MOE Laboratory of Bioinorganic and Synthetic Chemistry, Lehn Institute of Functional Materials, School of Chemistry, Sun Yat-Sen University, Guangzhou (China); Su, Cheng-Yong [MOE Laboratory of Bioinorganic and Synthetic Chemistry, Lehn Institute of Functional Materials, School of Chemistry, Sun Yat-Sen University, Guangzhou (China); State Key Laboratory of Applied Organic Chemistry, Lanzhou University, Lanzhou (China)

    2017-11-13

    Core-shell or striped heteroatomic lanthanide metal-organic framework hierarchical single crystals were obtained by liquid-phase anisotropic epitaxial growth, maintaining identical periodic organization while simultaneously exhibiting spatially segregated structure. Different types of domain and orientation-controlled multicolor photophysical models are presented, which show either visually distinguishable or visible/near infrared (NIR) emissive colors. This provides a new bottom-up strategy toward the design of hierarchical molecular systems, offering high-throughput and multiplexed luminescence color tunability and readability. The unique capability of combining spectroscopic coding with 3D (three-dimensional) microscale spatial coding is established, providing potential applications in anti-counterfeiting, color barcoding, and other types of integrated and miniaturized optoelectronic materials and devices. (copyright 2017 Wiley-VCH Verlag GmbH and Co. KGaA, Weinheim)

  7. Hybrid model predictive control applied to switching control of burner load for a compact marine boiler design

    DEFF Research Database (Denmark)

    Solberg, Brian; Andersen, Palle; Maciejowski, Jan

    2008-01-01

    This paper discusses the application of hybrid model predictive control to control switching between different burner modes in a novel compact marine boiler design. A further purpose of the present work is to point out problems with finite horizon model predictive control applied to systems for w...

  8. H∞ Controller Design for Asynchronous Hybrid Systems with Multiple Delays

    Directory of Open Access Journals (Sweden)

    Xiaoqiang Sun

    2016-01-01

    Full Text Available Solutions for the H∞ synthesis problems of asynchronous hybrid systems with input-output delays are proposed. The continuous-time lifting approach of sampled-data systems is extended to a hybrid system with multiple delays, and some feasible formulas to calculate the operators of the equivalent discrete-time (DT system are given. Different from the existing methods derived from symplectic pair theory or by state augmentation, a Lyapunov-Krasovskii functional to solve the synthesis problem is explicitly constructed. The delay-dependent stability conditions we obtained can be described in terms of nonstrict linear matrix inequalities (LMIs, which are much more convenient to be solved by LMI tools.

  9. Analysis of LTE Physical Hybrid ARQ Control Channel

    Directory of Open Access Journals (Sweden)

    MILOS, J.

    2014-05-01

    Full Text Available A Physical Hybrid ARQ Indicator Channel (PHICH is a very important element of the Long Term Evolution (LTE, Release 8 communication system. Via the PHICH, a Hybrid ARQ Indicator (HI acknowledge message is transmitted. The HI informs the result if the previous data transfer in uplink direction. Imperfect protection of PHICH transfer can cause superfluous repetitions of incorrect confirmed data and uplink overhead grows. In the paper, the PHICH signal processing and performance results of a single HI message in AWGN and fading channel models are presented depending on the representative antenna modes. The performance results for a number of HI messages greater than one within a single PHICH group, have not been found.

  10. Backstepping fuzzy-neural-network control design for hybrid maglev transportation system.

    Science.gov (United States)

    Wai, Rong-Jong; Yao, Jing-Xiang; Lee, Jeng-Dao

    2015-02-01

    This paper focuses on the design of a backstepping fuzzy-neural-network control (BFNNC) for the online levitated balancing and propulsive positioning of a hybrid magnetic levitation (maglev) transportation system. The dynamic model of the hybrid maglev transportation system including levitated hybrid electromagnets to reduce the suspension power loss and the friction force during linear movement and a propulsive linear induction motor based on the concepts of mechanical geometry and motion dynamics is first constructed. The ultimate goal is to design an online fuzzy neural network (FNN) control methodology to cope with the problem of the complicated control transformation and the chattering control effort in backstepping control (BSC) design, and to directly ensure the stability of the controlled system without the requirement of strict constraints, detailed system information, and auxiliary compensated controllers despite the existence of uncertainties. In the proposed BFNNC scheme, an FNN control is utilized to be the major control role by imitating the BSC strategy, and adaptation laws for network parameters are derived in the sense of projection algorithm and Lyapunov stability theorem to ensure the network convergence as well as stable control performance. The effectiveness of the proposed control strategy for the hybrid maglev transportation system is verified by experimental results, and the superiority of the BFNNC scheme is indicated in comparison with the BSC strategy and the backstepping particle-swarm-optimization control system in previous research.

  11. Comparing an evolved finite state controller for hybrid system to a lookahead design

    DEFF Research Database (Denmark)

    Dupuis, Jean-Francois; Fan, Zhun

    2010-01-01

    This paper presents a comparison of an evolutionary methodology for evolving finite state controller to the lookahead controller for hybrid system. To illustrate the advantages and disadvantages of both controllers two case studies, namely a two-tanks system and a single-input double-output DC...

  12. Evolved finite state controller for hybrid system in reduced search space

    DEFF Research Database (Denmark)

    Dupuis, Jean-Francois; Fan, Zhun

    2009-01-01

    This paper presents an evolutionary methodology to automatically generate finite state automata (FSA) controllers to control hybrid systems. The proposed approach reduces the search space using an invariant analysis of the system. FSA controllers for a case study of two-tank system have been...

  13. Toward a Smart Car: Hybrid Nonlinear Predictive Controller With Adaptive Horizon

    Czech Academy of Sciences Publication Activity Database

    Pčolka, M.; Žáčeková, E.; Čelikovský, Sergej; Šebek, M.

    (2018), č. článku 08059760. ISSN 1063-6536 R&D Projects: GA ČR(CZ) GA17-04682S Institutional support: RVO:67985556 Keywords : Autonomous vehicles * hybrid systems * nonlinear model predictive control (MPC) * optimization * vehicle control Subject RIV: BC - Control Systems Theory Impact factor: 3.882, year: 2016 http://ieeexplore.ieee.org/document/8059760/

  14. Design, implementation, and experimental validation of optimal power split control for hybrid electric trucks

    NARCIS (Netherlands)

    Keulen, T. van; Mullem, D. van; Jager, B. van; Kessels, J.T.B.A.; Steinbuch, M.

    2012-01-01

    Hybrid electric vehicles require an algorithm that controls the power split between the internal combustion engine and electric machine(s), and the opening and closing of the clutch. Optimal control theory is applied to derive a methodology for a real-time optimal-control-based power split

  15. Unique chromosome behavior and genetic control in Brassica x Orychophragmus wide hybrids: a review.

    Science.gov (United States)

    Li, Zai-yun; Ge, Xian-hong

    2007-06-01

    Researchers recognized early that chromosome behavior, as other morphological characters, is under genetic control and gave some cytogenetical examples such as the homoeologous chromosome pairing in wheat. In the intergeneric sexual hybrids between cultivated Brassica species and another crucifer Orychophragmus violaceus, the phenomenon of parental genome separation was found under genetic control during mitosis and meiosis. The cytogenetics of these hybrids was species-specific for Brassica parents. The different chromosome behavior of hybrids with three Brassica diploids (B. rapa, B. nigra and B. oleracea) might contribute to the different cytology of hybrids with three tetraploids (B. napus, B. juncea and B. carinata). The finding that genome-specific retention or loss of chromosomes in hybrids of O. violaceus with B. carinata and synthetic Brassica hexaploids (2n=54, AABBCC) is likely related to nucleolar dominance gives new insight into the molecular mechanisms regarding the cytology in these hybrids. It is proposed that the preferential expressions of genes for centromeric proteins from one parent (such as the well presented centromeric histone H3) are related with chromosome stability in wide hybrids and nucleolar dominance is beneficial to the production of centromere-specific proteins of the rRNAs-donor parent and to the stability of its chromosomes.

  16. Reactive power control and optimisation of hybrid off shore tidal turbine with system uncertainties

    Directory of Open Access Journals (Sweden)

    Asit Mohanty

    2016-12-01

    Full Text Available This paper projects an isolated hybrid model of Offshore wind-diesel-tidal turbine and discusses the stability and reactive power management issue of the whole system. The hybrid system often loses its stability as it becomes prone to uncertain load and input parameters and therefore the necessity of Reactive power management becomes necessary. The overall stability of the hybrid offshore wind-diesel-tidal turbine is made possible by the management of reactive power in the hybrid system through the application of FACTS devices. And therefore the dynamic hybrid model of the DFIG and DDPMSG based offshore wind-diesel-tidal turbine is analysed for stability with different input parameters like wind and tidal energies. For detailed modelling and simulation, a small signal model of the whole hybrid system is designed and reactive power management of the system is achieved by the incorporation of a STATCOM controller. For improvement of stability and reactive power compensation of the hybrid system, GA and PSO optimised STATCOM controller is used.

  17. New Material Design of Polylactides by Controlled Stereocomplexation and Hybridization

    OpenAIRE

    HYUN, Jungyub

    2015-01-01

    Stereocomplexation of PLA has been studied in various ways for creating high-performance PLA materials. However, concomitant formation of hc and sc crystals reduces the performances of the final stereo mixture of PLLA and PDLA. Therefore, in this study, sc crystallization is manipulated on sub-micron or nano-meter level by using hybridization and composite techniques in order to obtain high-performance PLAs. In the first trial, the author used hydrolytic polycondensation of silyl-terminated P...

  18. Vehicle height and posture control of the electronic air suspension system using the hybrid system approach

    Science.gov (United States)

    Sun, Xiaoqiang; Cai, Yingfeng; Chen, Long; Liu, Yanling; Wang, Shaohua

    2016-03-01

    The electronic air suspension (EAS) system can improve ride comfort, fuel economy and handling safety of vehicles by adjusting vehicle height. This paper describes the development of a novel controller using the hybrid system approach to adjust the vehicle height (height control) and to regulate the roll and pitch angles of the vehicle body during the height adjustment process (posture control). The vehicle height adjustment system of EAS poses challenging hybrid control problems, since it features different discrete modes of operation, where each mode has an associated linear continuous-time dynamic. In this paper, we propose a novel approach to the modelling and controller design problem for the vehicle height adjustment system of EAS. The system model is described firstly in the hybrid system description language (HYSDEL) to obtain a mixed logical dynamical (MLD) hybrid model. For the resulting model, a hybrid model predictive controller is tuned to improve the vehicle height and posture tracking accuracy and to achieve the on-off statuses direct control of solenoid valves. The effectiveness and performance of the proposed approach are demonstrated by simulations and actual vehicle tests.

  19. Autonomous Control of Interlinking Converter With Energy Storage in Hybrid AC–DC Microgrid

    DEFF Research Database (Denmark)

    Loh, Poh Chiang; Li, Ding; Chai, Yi Kang

    2013-01-01

    The coexistence of ac and dc subgrids in a hybrid microgrid is likely given that modern distributed sources can either be ac or dc. Linking these subgrids is a power converter, whose topology should preferably be not too unconventional. This is to avoid unnecessary compromises to reliability......, simplicity, and industry relevance of the converter. The desired operating features of the hybrid microgrid can then be added through this interlinking converter. To demonstrate, an appropriate control scheme is now developed for controlling the interlinking converter. The objective is to keep the hybrid...... microgrid in autonomous operation with active power proportionally shared among its distributed sources. Power sharing here should depend only on the source ratings and not their placements within the hybrid microgrid. The proposed scheme can also be extended to include energy storage within...

  20. Modified Neural Network for Dynamic Control and Operation of a Hybrid Generation Systems

    Directory of Open Access Journals (Sweden)

    Cong-Hui Huang

    2014-12-01

    Full Text Available This paper presents modified neural network for dynamic control and operation of a hybrid generation systems. PV and wind power are the primary power sources of the system to take full advantages of renewable energy, and the diesel-engine is used as a backup system. The simulation model of the hybrid system was developed using MATLAB Simulink. To achieve a fast and stable response for the real power control, the intelligent controller consists of a Radial Basis Function Network (RBFN and an modified Elman Neural Network (ENN for maximum power point tracking (MPPT. The pitch angle of wind turbine is controlled by ENN, and the PV system uses RBFN, where the output signal is used to control the DC I DC boost converters to achieve the MPPT. And the results show the hybrid generation system can effectively extract the maximum power from the PV and wind energy sources.

  1. Problem of two-level hierarchical minimax program control the final state of regional social and economic system with incomplete information

    Science.gov (United States)

    Shorikov, A. F.

    2016-12-01

    In this article we consider a discrete-time dynamical system consisting of a set a controllable objects (region and forming it municipalities). The dynamics each of these is described by the corresponding linear or nonlinear discrete-time recurrent vector relations and its control system consist from two levels: basic level (control level I) that is dominating level and auxiliary level (control level II) that is subordinate level. Both levels have different criterions of functioning and united by information and control connections which defined in advance. In this article we study the problem of optimization of guaranteed result for program control by the final state of regional social and economic system in the presence of risks vectors. For this problem we propose a mathematical model in the form of two-level hierarchical minimax program control problem of the final states of this system with incomplete information and the general scheme for its solving.

  2. Control and design of volumetric composition in pultruded hybrid fibre composites

    DEFF Research Database (Denmark)

    Madsen, Bo; Hashemi, Fariborz; Tahir, Paridah

    2016-01-01

    Hybrid composites consist of two of more fibre phases in a common matrix phase. This is a challenge for the control and design of the volumetric composition and microstructural uniformity of such composites. In the present study, a model is presented for the prediction of the complete volumetric ...... fibre weight mixing ratios. To demonstrate the suitability of the model, simulations are performed for four different cases of volumetric composition in hybrid kenaf/glass composites....

  3. Hierarchical hybrid of Ni{sub 3}N/N-doped reduced graphene oxide nanocomposite as a noble metal free catalyst for oxygen reduction reaction

    Energy Technology Data Exchange (ETDEWEB)

    Zhao, Qi; Li, Yingjun; Li, Yetong [College of Chemistry and Chemical Engineering, Inner Mongolia University, Hohhot 010021 (China); Huang, Keke [State Key Laboratory of Inorganic Synthesis and Preparative Chemistry, College of Chemistry, Jilin University, Changchun 130012 (China); Wang, Qin, E-mail: qinwang@imu.edu.cn [College of Chemistry and Chemical Engineering, Inner Mongolia University, Hohhot 010021 (China); Inner Mongolia Key Lab. of Nanoscience and Nanotechnology, Inner Mongolia University, Hohhot 010021 (China); Zhang, Jun, E-mail: cejzhang@imu.edu.cn [College of Chemistry and Chemical Engineering, Inner Mongolia University, Hohhot 010021 (China); Inner Mongolia Key Lab. of Nanoscience and Nanotechnology, Inner Mongolia University, Hohhot 010021 (China)

    2017-04-01

    Highlights: • Hybrid of Ni{sub 3}N/N-RGO catalysts are synthesized by using a two-step method. • The catalysts manifest superior catalytic activity towards the ORR. • High activities are attributed to enhanced electron density and synergistic effects. - Abstract: Novel nickel nitride (Ni{sub 3}N) nanoparticles supported on nitrogen-doped reduced graphene oxide nanosheets (N-RGOs) are synthesized via a facile strategy including hydrothermal and subsequent calcination methods, in which the reduced graphene oxide nanosheets (RGOs) are simultaneously doped with nitrogen species. By varying the content of the RGOs, a series of Ni{sub 3}N/N-RGO nanocomposites are obtained. The Ni{sub 3}N/N-RGO-30% hybrid nanocomposite exhibits superior catalytic activity towards oxygen reduction reaction (ORR) under alkaline condition (0.1 M KOH). Furthermore, this hybrid catalyst also demonstrates high tolerance to methanol poisoning. The RGO containing rich N confers the nanocomposite with large specific surface area and high electronic conduction ability, which can enhance the catalytic efficiency of Ni{sub 3}N nanoparticles. The enhanced catalytic activity can be attributed to the synergistic effect between Ni{sub 3}N and nitrogen doped reduced graphene oxide. In addition, the sufficient contact between Ni{sub 3}N nanoparticles and the N-RGO nanosheets simultaneously promotes good nanoparticle dispersion and provides a consecutive activity sites to accelerate electron transport continuously, which further enhance the ORR performance. The Ni{sub 3}N/N-RGO may be further an ideal candidate as efficient and inexpensive noble metal-free ORR electrocatalyst in fuel cells.

  4. Algorithm for solving of two-level hierarchical minimax program control problem of final state the regional socio-economic system in the presence of risks

    Science.gov (United States)

    Shorikov, A. F.

    2017-10-01

    In this paper we study the problem of optimization of guaranteed result for program control by the final state of regional social and economic system in the presence of risks. For this problem we propose a mathematical model in the form of two-level hierarchical minimax program control problem of the final state of this process with incomplete information. For solving of its problem we constructed the common algorithm that has a form of a recurrent procedure of solving a linear programming and a finite optimization problems.

  5. Supervisory fussy control for an electric generating hybrid system; Control supervisorio difuso para un sistema hibrido de generacion electrica

    Energy Technology Data Exchange (ETDEWEB)

    Lagunas Mendoza, Javier

    2004-11-15

    This work presents the development of a fuzzy supervisory controller for a hybrid power system (HPS). After reviewing the actual configurations for Hybrid Systems used around the world, it was defined the configuration and constitutive elements to be implemented in proposed HPS. The HPS includes: photovoltaic arrays, wind turbines as renewable sources, a Gen-set as a back-up system, a battery bank a mean for energy storage, AC loads and finally an inverter to transform DC to AC in order to provide electricity to the loads. Once the HPS configuration was selected, the mathematical models for the different elements of the system were selected. The validation of the models was made comparing the results from the model with collected real data of an experimental HPS installed in Pachuca Hidalgo. Using MatLab it was developed a program to simulate the operation of the a HPS. The main function of the supervisory controller within the HPS is to satisfy the objectives of operation of the system, and it was defined as part of the research work. The operation philosophy of the supervisory controller was defined having selected HPS configuration and the operation objectives of the system. Regarding to the supervisory controller development, first it was carried out a bibliographic review of the supervisory controllers that are used nowadays whose use some techniques of intelligent control. As result form this review the fuzzy logic technique was chosen to be implemented in the supervisory controller proposed. The resulting supervisory controller was a multi- variable system type, and it is implementation was challenging task. Its development was made using the hierarchic decomposition based on meta-knowledge. As result a smaller diffuse systems with a less number of rules were obtained. An important part of the work was the implementation of the supervisory controller in Matlab. The controller tested in the developed simulation program for SHGE. The results of operation of

  6. Species origin of genomic factors in Nicotiana nudicaulis Watson controlling hybrid lethality in interspecific hybrids between N. nudicaulis Watson and N. tabacum L.

    Directory of Open Access Journals (Sweden)

    Hongshuo Liu

    Full Text Available Hybrid lethality is expressed at 28°C in the cross Nicotiana nudicaulis × N. tabacum. The S subgenome of N. tabacum has been identified as controlling this hybrid lethality. To clarify the responsible genomic factor(s of N. nudicaulis, we crossed N. trigonophylla (paternal progenitor of N. nudicaulis with N. tabacum, because hybrids between N. sylvestris (maternal progenitor of N. nudicaulis and N. tabacum are viable when grown in a greenhouse. In the cross N. trigonophylla×N. tabacum, approximately 50% of hybrids were vitrified, 20% were viable, and 20% were nonviable at 28°C. To reveal which subgenome of N. tabacum was responsible for these phenotypes, we crossed N. trigonophylla with two progenitors of N. tabacum, N. sylvestris (SS and N. tomentosiformis (TT. In the cross N. sylvestris × N. trigonophylla, we confirmed that over half of hybrids of N. sylvestris × N. trigonophylla were vitrified, and none of the hybrids of N. trigonophylla × N. tomentosiformis were. The results imply that the S subgenome, encoding a gene or genes inducing hybrid lethality in the cross between N. nudicaulis and N. tabacum, has one or more genomic factors that induce vitrification. Furthermore, in vitrified hybrids of N. trigonophylla × N. tabacum and N. sylvestris × N. trigonophylla, we found that nuclear fragmentation, which progresses during expression of hybrid lethality, was accompanied by vitrification. This observation suggests that vitrification has a relationship to hybrid lethality. Based on these results, we speculate that when N. nudicaulis was formed approximately 5 million years ago, several causative genomic factors determining phenotypes of hybrid seedlings were inherited from N. trigonophylla. Subsequently, genome downsizing and various recombination-based processes took place. Some of the causative genomic factors were lost and some became genomic factor(s controlling hybrid lethality in extant N. nudicaulis.

  7. Hybrid fuzzy logic and pid controller based ph neutralization pilot plant

    OpenAIRE

    Naseer, 1Oumair; Khan, Atif Ali

    2013-01-01

    Use of Control theory within process control industries has changed rapidly due to the increase complexity of instrumentation, real time requirements, minimization of operating costs and highly nonlinear characteristics of chemical process. Previously developed process control technologies which are mostly based on a single controller are not efficient in terms of signal transmission delays, processing power for computational needs and signal to noise ratio. Hybrid controller with efficient s...

  8. In situ controlled rapid growth of novel high activity TiB2/(TiB2–TiN hierarchical/heterostructured nanocomposites

    Directory of Open Access Journals (Sweden)

    Jilin Wang

    2017-10-01

    Full Text Available In this work, a reaction coupling self-propagating high-temperature synthesis (RC-SHS method was developed for the in situ controlled synthesis of novel, high activity TiB2/(TiB2–TiN hierarchical/heterostructured nanocomposites using TiO2, Mg, B2O3, KBH4 and NH4NO3 as raw materials. The as-synthesized samples were characterized using X-ray diffraction (XRD, scanning electron microscope (SEM, X-ray energy dispersive spectroscopy (EDX, transition electron microscopy (TEM, high-resolution TEM (HRTEM and selected-area electron diffraction (SAED. The obtained TiB2/TiN hierarchical/heterostructured nanocomposites demonstrated an average particle size of 100–500 nm, and every particle surface was covered by many multibranched, tapered nanorods with diameters in the range of 10–40 nm and lengths of 50–200 nm. In addition, the tapered nanorod presents a rough surface with abundant exposed atoms. The internal and external components of the nanorods were TiB2 and TiN, respectively. Additionally, a thermogravimetric and differential scanning calorimetry analyzer (TG-DSC comparison analysis indicated that the as-synthesized samples presented better chemical activity than that of commercial TiB2 powders. Finally, the possible chemical reactions as well as the proposed growth mechanism of the TiB2/(TiB2–TiN hierarchical/heterostructured nanocomposites were further discussed.

  9. Hierarchical hybrid of Ni3N/N-doped reduced graphene oxide nanocomposite as a noble metal free catalyst for oxygen reduction reaction

    Science.gov (United States)

    Zhao, Qi; Li, Yingjun; Li, Yetong; Huang, Keke; Wang, Qin; Zhang, Jun

    2017-04-01

    Novel nickel nitride (Ni3N) nanoparticles supported on nitrogen-doped reduced graphene oxide nanosheets (N-RGOs) are synthesized via a facile strategy including hydrothermal and subsequent calcination methods, in which the reduced graphene oxide nanosheets (RGOs) are simultaneously doped with nitrogen species. By varying the content of the RGOs, a series of Ni3N/N-RGO nanocomposites are obtained. The Ni3N/N-RGO-30% hybrid nanocomposite exhibits superior catalytic activity towards oxygen reduction reaction (ORR) under alkaline condition (0.1 M KOH). Furthermore, this hybrid catalyst also demonstrates high tolerance to methanol poisoning. The RGO containing rich N confers the nanocomposite with large specific surface area and high electronic conduction ability, which can enhance the catalytic efficiency of Ni3N nanoparticles. The enhanced catalytic activity can be attributed to the synergistic effect between Ni3N and nitrogen doped reduced graphene oxide. In addition, the sufficient contact between Ni3N nanoparticles and the N-RGO nanosheets simultaneously promotes good nanoparticle dispersion and provides a consecutive activity sites to accelerate electron transport continuously, which further enhance the ORR performance. The Ni3N/N-RGO may be further an ideal candidate as efficient and inexpensive noble metal-free ORR electrocatalyst in fuel cells.

  10. A hierarchical assembly of flower-like hybrid Turkish black radish peroxidase-Cu2+ nanobiocatalyst and its effective use in dye decolorization.

    Science.gov (United States)

    Altinkaynak, Cevahir; Tavlasoglu, Sureyya; Kalin, Ramazan; Sadeghian, Nastaran; Ozdemir, Hasan; Ocsoy, Ismail; Özdemir, Nalan

    2017-09-01

    Effective dye decolorization in wastewater still shows a big challenge. Although the biological methods, especially using enzymes, offer alternative and effective process for dye degradation and overcome the limitations of chemical and physical methods such as the instability, lack of reusability and high cost of free enzymes strictly, which limit their use in many scientific and technical applications. Enzymes rapidly lose their activities in aqueous solutions and against environmental changes due to their very susceptibility and unfavorable conformations. Herein, we report preparation of the enzyme-inorganic hybrid nanostructures with flower-like shape consisting of Turkish black radish peroxidase and Cu2+ metal ions using an encouraging enzyme immobilization approach. The peroxidase-Cu2+ hybrid nanoflowers (NFs) exhibited enhanced stability and activity towards various pH values and provided excellent dye decolorization efficiency for Victoria blue (VB) dye with more than 90% within 1 h. The NFs were also repeatedly used in efficient and caused 77% VB decolorization efficiency even at tenth cycles. However, to the best of our knowledge, for the first time, we prepared peroxidase enzyme isolated from Turkish black radish incorporated NFs and used them for dye decolorization. We believe that the NFs can be promising materials for dye decolorization in real wastewater treatment. Copyright © 2017 Elsevier Ltd. All rights reserved.

  11. Estimation and Control of Nonlinear and Hybrid Systems

    Science.gov (United States)

    1990-10-14

    FSMP). The state space of a Furthermore, define the M x N matriz V and the N x M matrx U hybrid system is a cross-product space of a Euclidean space and...fast states of the group when # = O(e), (iii) the system can be approximated as an averaged value of the system matriz over all their values based on the...consider over all admissible res- Given the system (1)-(2), the corresrponding transfer funcion alizazious. Sinc minimal realizations ame not required to

  12. Guaranteed Cost Control for Exponential Synchronization of Cellular Neural Networks with Mixed Time-Varying Delays via Hybrid Feedback Control

    Directory of Open Access Journals (Sweden)

    T. Botmart

    2013-01-01

    Full Text Available The problem of guaranteed cost control for exponential synchronization of cellular neural networks with interval nondifferentiable and distributed time-varying delays via hybrid feedback control is considered. The interval time-varying delay function is not necessary to be differentiable. Based on the construction of improved Lyapunov-Krasovskii functionals is combined with Leibniz-Newton's formula and the technique of dealing with some integral terms. New delay-dependent sufficient conditions for the exponential synchronization of the error systems with memoryless hybrid feedback control are first established in terms of LMIs without introducing any free-weighting matrices. The optimal guaranteed cost control with linear error hybrid feedback is turned into the solvable problem of a set of LMIs. A numerical example is also given to illustrate the effectiveness of the proposed method.

  13. Adaptive control using a hybrid-neural model: application to a polymerisation reactor

    Directory of Open Access Journals (Sweden)

    Cubillos F.

    2001-01-01

    Full Text Available This work presents the use of a hybrid-neural model for predictive control of a plug flow polymerisation reactor. The hybrid-neural model (HNM is based on fundamental conservation laws associated with a neural network (NN used to model the uncertain parameters. By simulations, the performance of this approach was studied for a peroxide-initiated styrene tubular reactor. The HNM was synthesised for a CSTR reactor with a radial basis function neural net (RBFN used to estimate the reaction rates recursively. The adaptive HNM was incorporated in two model predictive control strategies, a direct synthesis scheme and an optimum steady state scheme. Tests for servo and regulator control showed excellent behaviour following different setpoint variations, and rejecting perturbations. The good generalisation and training capacities of hybrid models, associated with the simplicity and robustness characteristics of the MPC formulations, make an attractive combination for the control of a polymerisation reactor.

  14. Automated Controller Synthesis for non-Deterministic Piecewise-Affine Hybrid Systems

    DEFF Research Database (Denmark)

    Grunnet, Jacob Deleuran

    of negating faults while the added number of components increases the likelihood of faults occurring. Combined with the fact that once a mission is launched it is prohibitively expensive to repair a failing component there is a good case for designing fault tolerant controllers specifically for satellite...... formations. This thesis uses a hybrid systems model of a satellite formation with possible actuator faults as a motivating example for developing an automated control synthesis method for non-deterministic piecewise-affine hybrid systems (PAHS). The method does not only open an avenue for further research...... in fault tolerant satellite formation control, but can be used to synthesise controllers for a wide range of systems where external events can alter the system dynamics. The synthesis method relies on abstracting the hybrid system into a discrete game, finding a winning strategy for the game meeting...

  15. Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV.

    Science.gov (United States)

    Ali, Zain Anwar; Wang, Daobo; Aamir, Muhammad

    2016-05-09

    In this paper, a new and novel mathematical fuzzy hybrid scheme is proposed for the stabilization of a tri-rotor unmanned aerial vehicle (UAV). The fuzzy hybrid scheme consists of a fuzzy logic controller, regulation pole-placement tracking (RST) controller with model reference adaptive control (MRAC), in which adaptive gains of the RST controller are being fine-tuned by a fuzzy logic controller. Brushless direct current (BLDC) motors are installed in the triangular frame of the tri-rotor UAV, which helps maintain control on its motion and different altitude and attitude changes, similar to rotorcrafts. MRAC-based MIT rule is proposed for system stability. Moreover, the proposed hybrid controller with nonlinear flight dynamics is shown in the presence of translational and rotational velocity components. The performance of the proposed algorithm is demonstrated via MATLAB simulations, in which the proposed fuzzy hybrid controller is compared with the existing adaptive RST controller. It shows that our proposed algorithm has better transient performance with zero steady-state error, and fast convergence towards stability.

  16. Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV

    Directory of Open Access Journals (Sweden)

    Zain Anwar Ali

    2016-05-01

    Full Text Available In this paper, a new and novel mathematical fuzzy hybrid scheme is proposed for the stabilization of a tri-rotor unmanned aerial vehicle (UAV. The fuzzy hybrid scheme consists of a fuzzy logic controller, regulation pole-placement tracking (RST controller with model reference adaptive control (MRAC, in which adaptive gains of the RST controller are being fine-tuned by a fuzzy logic controller. Brushless direct current (BLDC motors are installed in the triangular frame of the tri-rotor UAV, which helps maintain control on its motion and different altitude and attitude changes, similar to rotorcrafts. MRAC-based MIT rule is proposed for system stability. Moreover, the proposed hybrid controller with nonlinear flight dynamics is shown in the presence of translational and rotational velocity components. The performance of the proposed algorithm is demonstrated via MATLAB simulations, in which the proposed fuzzy hybrid controller is compared with the existing adaptive RST controller. It shows that our proposed algorithm has better transient performance with zero steady-state error, and fast convergence towards stability.

  17. A New Method for Modeling and Control of Hybrid Stepper Motors

    Directory of Open Access Journals (Sweden)

    George Mihalache

    2014-09-01

    Full Text Available Over time the mathematical models of the hybrid stepper motors (HSM have been developed in various forms. In this paper we propose to use for HSM a model of a two-phase synchronous machine with permanent magnet in which the number of pole pairs is equal to the number of rotor teeth of the HSM. It analyzes the behavior of hybrid stepper motor controlled in open loop. Control signals are obtained by implementing the control sequences:one-phase-on, two-phases-on, half step.

  18. Fuel cell-gas turbine hybrid system design part II: Dynamics and control

    Science.gov (United States)

    McLarty, Dustin; Brouwer, Jack; Samuelsen, Scott

    2014-05-01

    Fuel cell gas turbine hybrid systems have achieved ultra-high efficiency and ultra-low emissions at small scales, but have yet to demonstrate effective dynamic responsiveness or base-load cost savings. Fuel cell systems and hybrid prototypes have not utilized controls to address thermal cycling during load following operation, and have thus been relegated to the less valuable base-load and peak shaving power market. Additionally, pressurized hybrid topping cycles have exhibited increased stall/surge characteristics particularly during off-design operation. This paper evaluates additional control actuators with simple control methods capable of mitigating spatial temperature variation and stall/surge risk during load following operation of hybrid fuel cell systems. The novel use of detailed, spatially resolved, physical fuel cell and turbine models in an integrated system simulation enables the development and evaluation of these additional control methods. It is shown that the hybrid system can achieve greater dynamic response over a larger operating envelope than either individual sub-system; the fuel cell or gas turbine. Results indicate that a combined feed-forward, P-I and cascade control strategy is capable of handling moderate perturbations and achieving a 2:1 (MCFC) or 4:1 (SOFC) turndown ratio while retaining >65% fuel-to-electricity efficiency, while maintaining an acceptable stack temperature profile and stall/surge margin.

  19. Hierarchical hollow microsphere and flower-like indium oxide: Controllable synthesis and application as H{sub 2}S cataluminescence sensing materials

    Energy Technology Data Exchange (ETDEWEB)

    Cai, Pingyang, E-mail: cpyxx@163.com [Key Laboratory of Green Chemistry and Technology, Ministry of Education, College of Chemistry, Sichuan University, Chengdu, Sichuan 610064 (China); Bai, Wei, E-mail: weibaiscu@gmail.com [Key Laboratory of Green Chemistry and Technology, Ministry of Education, College of Chemistry, Sichuan University, Chengdu, Sichuan 610064 (China); Zhang, Lichun, E-mail: lichun0203@yahoo.cn [Key Laboratory of Green Chemistry and Technology, Ministry of Education, College of Chemistry, Sichuan University, Chengdu, Sichuan 610064 (China); Song, Hongjie, E-mail: aurora811005@yahoo.com.cn [Key Laboratory of Green Chemistry and Technology, Ministry of Education, College of Chemistry, Sichuan University, Chengdu, Sichuan 610064 (China); Su, Yingying, E-mail: suyinging@scu.edu.cn [Analytical and Testing Center, Sichuan University, Chengdu, Sichuan 610064 (China); Lv, Yi, E-mail: lvy@scu.edu.cn [Key Laboratory of Green Chemistry and Technology, Ministry of Education, College of Chemistry, Sichuan University, Chengdu, Sichuan 610064 (China)

    2012-09-15

    Graphical abstract: Hierarchical hollow microsphere and flower-like In{sub 2}O{sub 3} were controllable fabricated through a novel and simple hydrothermal process, and the former showed superior cataluminescence sensing performance to H{sub 2}S. Highlights: ► In{sub 2}O{sub 3} hierarchical hollow sphere were prepared via a hydrothermal route. ► The growth process of In{sub 2}O{sub 3} hierarchical hollow sphere has been investigated. ► The sensor based on prepared In{sub 2}O{sub 3} shows good sensing performance to H{sub 2}S. -- Abstract: In the present work, In{sub 2}O{sub 3} hierarchical hollow microsphere and flower-like microstructure were achieved controllably by a hydrothermal process in the sodium dodecyl sulfate (SDS)-N,N-dimethyl-formamide (DMF) system. XRD, SEM, HRTEM and N{sub 2} adsorption measurements were used to characterize the as-prepared indium oxide materials and the possible mechanism for the microstructures formation was briefly discussed. The cataluminescence gas sensor based on the as-prepared In{sub 2}O{sub 3} was utilized to detect H{sub 2}S concentrations in flowing air. Comparative gas sensing results revealed that the sensor based on hierarchical hollow microsphere exhibited much higher sensing sensitivity in detecting H{sub 2}S gas than the sensor based on flower-like microstructure. The present gas sensor had a fast response time of 5 s and a recovery time of less than 25 s, furthermore, the cataluminescence intensity vs. H{sub 2}S concentration was linear in range of 2–20 μg mL{sup −1} with a detection limit of 0.5 μg mL{sup −1}. The present highly sensitive, fast-responding, and low-cost In{sub 2}O{sub 3}-based gas sensor for H{sub 2}S would have many practical applications.

  20. X chromosome control of meiotic chromosome synapsis in mouse inter-subspecific hybrids.

    Directory of Open Access Journals (Sweden)

    Tanmoy Bhattacharyya

    2014-02-01

    Full Text Available Hybrid sterility (HS belongs to reproductive isolation barriers that safeguard the integrity of species in statu nascendi. Although hybrid sterility occurs almost universally among animal and plant species, most of our current knowledge comes from the classical genetic studies on Drosophila interspecific crosses or introgressions. With the house mouse subspecies Mus m. musculus and Mus m. domesticus as a model, new research tools have become available for studies of the molecular mechanisms and genetic networks underlying HS. Here we used QTL analysis and intersubspecific chromosome substitution strains to identify a 4.7 Mb critical region on Chromosome X (Chr X harboring the Hstx2 HS locus, which causes asymmetrical spermatogenic arrest in reciprocal intersubspecific F1 hybrids. Subsequently, we mapped autosomal loci on Chrs 3, 9 and 13 that can abolish this asymmetry. Combination of immunofluorescent visualization of the proteins of synaptonemal complexes with whole-chromosome DNA FISH on pachytene spreads revealed that heterosubspecific, unlike consubspecific, homologous chromosomes are predisposed to asynapsis in F1 hybrid male and female meiosis. The asynapsis is under the trans- control of Hstx2 and Hst1/Prdm9 hybrid sterility genes in pachynemas of male but not female hybrids. The finding concurred with the fertility of intersubpecific F1 hybrid females homozygous for the Hstx2(Mmm allele and resolved the apparent conflict with the dominance theory of Haldane's rule. We propose that meiotic asynapsis in intersubspecific hybrids is a consequence of cis-acting mismatch between homologous chromosomes modulated by the trans-acting Hstx2 and Prdm9 hybrid male sterility genes.

  1. Prdm9 incompatibility controls oligospermia and delayed fertility but no selfish transmission in mouse intersubspecific hybrids.

    Directory of Open Access Journals (Sweden)

    Petr Flachs

    Full Text Available PR-domain 9 (Prdm9 is the first hybrid sterility gene identified in mammals. The incompatibility between Prdm9 from Mus musculus domesticus (Mmd; the B6 strain and the Hstx2 region of chromosome (Chr X from M. m. musculus (Mmm; the PWD strain participates in the complete meiotic arrest of mouse intersubspecific (PWD×B6F1 hybrid males. Other studies suggest that also semisterile intersubspecific hybrids are relevant for mouse speciation, but the genes responsible remain unknown. To investigate the causes of this semisterility, we analyzed the role of Prdm9 and Chr X in hybrids resulting from the crosses of PWK, another Mmm-derived inbred strain. We demonstrate that Prdm9 and Chr X control the partial meiotic arrest and reduced sperm count in (PWK×B6F1 males. Asynapsis of heterosubspecific chromosomes and semisterility were partially suppressed by removal of the B6 allele of Prdm9. Polymorphisms between PWK and PWD on Chr X but not in the Prdm9 region were responsible for the modification of the outcome of Prdm9-Chr X F1 hybrid incompatibility. Furthermore, (PWK×B6F1 hybrid males displayed delayed fertility dependent on the Prdm9 incompatibility. While the Drosophila hybrid sterility gene Overdrive causes both delayed fertility and increased transmission of its own chromosome to the offspring, the segregation of Chr X and the Prdm9 region from the mouse (PWK×B6F1 males was normal. Our results indicate extended functional consequences of Prdm9-Chr X intersubspecific incompatibility on the fertility of hybrids and should influence the design of fertility analyses in hybrid zones and of laboratory crosses between Mmm and Mmd strains.

  2. Single axis controlled hybrid magnetic bearing for left ventricular assist device: hybrid core and closed magnetic circuit.

    Science.gov (United States)

    da Silva, Isaias; Horikawa, Oswaldo; Cardoso, Jose R; Camargo, Fernando A; Andrade, Aron J P; Bock, Eduardo G P

    2011-05-01

    In previous studies, we presented main strategies for suspending the rotor of a mixed-flow type (centrifugal and axial) ventricular assist device (VAD), originally presented by the Institute Dante Pazzanese of Cardiology (IDPC), Brazil. Magnetic suspension is achieved by the use of a magnetic bearing architecture in which the active control is executed in only one degree of freedom, in the axial direction of the rotor. Remaining degrees of freedom, excepting the rotation, are restricted only by the attraction force between pairs of permanent magnets. This study is part of a joint project in development by IDPC and Escola Politecnica of São Paulo University, Brazil. This article shows advances in that project, presenting two promising solutions for magnetic bearings. One solution uses hybrid cores as electromagnetic actuators, that is, cores that combine iron and permanent magnets. The other solution uses actuators, also of hybrid type, but with the magnetic circuit closed by an iron core. After preliminary analysis, a pump prototype has been developed for each solution and has been tested. For each prototype, a brushless DC motor has been developed as the rotor driver. Each solution was evaluated by in vitro experiments and guidelines are extracted for future improvements. Tests have shown good results and demonstrated that one solution is not isolated from the other. One complements the other for the development of a single-axis-controlled, hybrid-type magnetic bearing for a mixed-flow type VAD. © 2011, Copyright the Authors. Artificial Organs © 2011, International Center for Artificial Organs and Transplantation and Wiley Periodicals, Inc.

  3. Conceptual Design and Optimal Power Control Strategy for AN Eco-Friendly Hybrid Vehicle

    Science.gov (United States)

    Nasiri, N. Mir; Chieng, Frederick T. A.

    2011-06-01

    This paper presents a new concept for a hybrid vehicle using a torque and speed splitting technique. It is implemented by the newly developed controller in combination with a two degree of freedom epicyclic gear transmission. This approach enables optimization of the power split between the less powerful electrical motor and more powerful engine while driving a car load. The power split is fundamentally a dual-energy integration mechanism as it is implemented by using the epicyclic gear transmission that has two inputs and one output for a proper power distribution. The developed power split control system manages the operation of both the inputs to have a known output with the condition of maintaining optimum operating efficiency of the internal combustion engine and electrical motor. This system has a huge potential as it is possible to integrate all the features of hybrid vehicle known to-date such as the regenerative braking system, series hybrid, parallel hybrid, series/parallel hybrid, and even complex hybrid (bidirectional). By using the new power split system it is possible to further reduce fuel consumption and increase overall efficiency.

  4. Modeling and Nonlinear Control of Electric Power Stage in Hybrid Electric Vehicle

    DEFF Research Database (Denmark)

    Tahri, A.; El Fadil, H.; Guerrero, Josep M.

    2014-01-01

    This paper deals with the problem of modeling and controlling the electric power stage of hybrid electric vehicle. The controlled system consists of a fuel cell (FC) as a main source, a supercapacitor as an auxiliary source, two DC-DC power converters, an inverter and a traction induction motor...

  5. Multi-agent system-based event-triggered hybrid control scheme for energy internet

    DEFF Research Database (Denmark)

    Dou, Chunxia; Yue, Dong; Han, Qing Long

    2017-01-01

    This paper is concerned with an event-triggered hybrid control for the energy Internet based on a multi-agent system approach with which renewable energy resources can be fully utilized to meet load demand with high security and well dynamical quality. In the design of control, a multi-agent system...

  6. Six-Phase Vehicular Drive with Renewable DC Sources and Hybrid PWM Control of Four Inverters

    DEFF Research Database (Denmark)

    Oleschuk, Valentin; Ermuratskii, Vladimir; Blaabjerg, Frede

    2015-01-01

    The paper presents results of research of quad-inverter-based automotive system with combined scheme of PWM control of inverters, supplied by two renewable dc sources (by fuel cells and by battery). It has been shown, that hybrid switching techniques can be used successfully for control of vehicle...

  7. A Hybrid Optimization Method for Reactive Power and Voltage Control Considering Power Loss Minimization

    DEFF Research Database (Denmark)

    Liu, Chengxi; Qin, Nan; Bak, Claus Leth

    2015-01-01

    This paper proposes a hybrid optimization method to optimally control the voltage and reactive power with minimum power loss in transmission grid. This approach is used for the Danish automatic voltage control (AVC) system which is typically a non-linear non-convex problem mixed with both...

  8. Free chattering hybrid sliding mode control for a class of non-linear systems

    DEFF Research Database (Denmark)

    Khooban, Mohammad-Hassan; Niknam, Taher; Blaabjerg, Frede

    2016-01-01

    In current study, in order to find the control of general uncertain nonlinear systems, a new optimal hybrid control approach called Optimal General Type II Fuzzy Sliding Mode (OGT2FSM) is presented. In order to estimate unknown nonlinear activities in monitoring dynamic uncertainties, the benefit...

  9. Multiple Systems for Cognitive Control: Evidence from a Hybrid Prime-Simon Task

    Science.gov (United States)

    Schlaghecken, Friederike; Refaat, Malik; Maylor, Elizabeth A.

    2011-01-01

    Cognitive control resolves conflicts between appropriate and inappropriate response tendencies. Is this achieved by a unitary all-purpose conflict control system, or do independent subsystems deal with different aspects of conflicting information? In a fully factorial hybrid prime-Simon task, participants responded to the identity of targets…

  10. Robust Power Management Control for Stand-Alone Hybrid Power Generation System

    Science.gov (United States)

    Kamal, Elkhatib; Adouane, Lounis; Aitouche, Abdel; Mohammed, Walaa

    2017-01-01

    This paper presents a new robust fuzzy control of energy management strategy for the stand-alone hybrid power systems. It consists of two levels named centralized fuzzy supervisory control which generates the power references for each decentralized robust fuzzy control. Hybrid power systems comprises: a photovoltaic panel and wind turbine as renewable sources, a micro turbine generator and a battery storage system. The proposed control strategy is able to satisfy the load requirements based on a fuzzy supervisor controller and manage power flows between the different energy sources and the storage unit by respecting the state of charge and the variation of wind speed and irradiance. Centralized controller is designed based on If-Then fuzzy rules to manage and optimize the hybrid power system production by generating the reference power for photovoltaic panel and wind turbine. Decentralized controller is based on the Takagi-Sugeno fuzzy model and permits us to stabilize each photovoltaic panel and wind turbine in presence of disturbances and parametric uncertainties and to optimize the tracking reference which is given by the centralized controller level. The sufficient conditions stability are formulated in the format of linear matrix inequalities using the Lyapunov stability theory. The effectiveness of the proposed Strategy is finally demonstrated through a SAHPS (stand-alone hybrid power systems) to illustrate the effectiveness of the overall proposed method.

  11. 4D Trajectory Estimation for Air Traffic Control Automation System Based on Hybrid System Theory

    Directory of Open Access Journals (Sweden)

    Xin-Min Tang

    2012-03-01

    Full Text Available To resolve the problem of future airspace management under great traffic flow and high density condition, 4D trajectory estimation has become one of the core technologies of the next new generation air traffic control automation system. According to the flight profile and the dynamics models of different aircraft types under different flight conditions, a hybrid system model that switches the aircraft from one flight stage to another with aircraft state changing continuously in one state is constructed. Additionally, air temperature and wind speed are used to modify aircraft true airspeed as well as ground speed, and the hybrid system evolution simulation is used to estimate aircraft 4D trajectory. The case study proves that 4D trajectory estimated through hybrid system model can image the flight dynamic states of aircraft and satisfy the needs of the planned flight altitude profile.KEY WORDSair traffic management, 4D trajectory estimation, hybrid system model, aircraft dynamic model

  12. Robust model predictive control of hybrid transmissions; Robuste Modellpraediktive Regelung fuer Hybridgetriebe

    Energy Technology Data Exchange (ETDEWEB)

    Beck, R. [RWTH Aachen (Germany). Inst. fuer Regelungstechnik; Saenger Zetina, S.; Neiss, K. [DaimlerChrysler Corp., Troy, MI (United States); Bollig, A. [Siemens AG, Muenchen (Germany)

    2007-07-15

    Hybrid electric vehicles increasingly gain importance mainly due to the potential fuel saving but also because of the additional agility achieved by the increased peak torques during boosting. An important aspect of a hybrid architecture is the transition between pure electric and hybrid operation, which is exemplarily investigated in a flexible hybrid transmission under a parallel engagement configuration. A clutch which separates the transmission input side (engine side) from the rest of the drivetrain is engaged in order to achieve the transition. A noticeable jerk during the engagement process or an interruption of the drive torque cannot be tolerated since the driving comfort must not be reduced. Special attention was given to the robustness of the controller, since the transition has to be carried out reliably and comfortably under varying vehicle properties and drive conditions. (orig.)

  13. Design and implementation of the control system in the Autarkic Hybrid; Entwurf und Implementierung der Regelung am Autarken Hybrid

    Energy Technology Data Exchange (ETDEWEB)

    Schroeder, D.; Mueller, C.

    1999-07-01

    In order to develop a control system for a hybrid drive line with an infinitely variable i{sup 2} transmission a model of the controlled system drive line consisting of the structures essential for the control must be designed. In the present case the longitudinal dynamics of vehicle are merely investigated, which can be shown in a simplified model as two-mass torsional oscillator with an infinitely variable transmission. The resulting controlled system shows a non-linearity caused by the transmission and can vary in its structure due to several possible operational modes. The control system is implemented in the test vehicle as a decentral control structure consisting of a vehicle control system and seven control devices. (orig.) [German] Um eine Regelung fuer einen hybriden Antriebsstrang mit einem stufenlosen i{sup 2}-Getriebe entwickeln zu koennen, ist eine Modellierung der Regelstrecke Antriebsstrang mit den fuer die Regelung wesentlichen Strukturen notwendig. Im vorliegenden Fall wird lediglich die Laengsdynamik des Fahrzeuges betrachtet, die in einer vereinfachten Darstellung als Zweimassentorsionsschwinger mit einer kontinuierlich verstellbaren Uebersetzung modelliert werden kann. Die sich ergebende Regelstrecke weist eine durch das Getriebe bedingte Nichtlinearitaet auf und ist wegen den verschiedenen moeglichen Betriebsmodi strukturvariant. Bei der Implementierung der Regelung in einem Versuchsfahrzeug kommt eine dezentrale Reglerstruktur bestehend aus einem Fahrzeugregler und sieben Steuergeraeten zum Einsatz. (orig.)

  14. Research on the Power Management Strategy of Hybrid Electric Vehicles Based on Electric Variable Transmissions

    OpenAIRE

    Qiwei Xu; Shumei Cui; Liwei Song; Qianfan Zhang

    2014-01-01

    Electric variable transmission is a new electromechanical energy conversion device structure, which is especially suitable as the driving force distribution device for hybrid electric vehicles. This paper focuses on the power management strategy of hybrid electric vehicles based on an electric variable transmission, and a kind of hierarchical control ideology is proposed. The control strategy is composed of four control levels, namely analysis of force requirement, operation mode switching, f...

  15. Control Strategy Based on Wavelet Transform and Neural Network for Hybrid Power System

    Directory of Open Access Journals (Sweden)

    Y. D. Song

    2013-01-01

    Full Text Available This paper deals with an energy management of a hybrid power generation system. The proposed control strategy for the energy management is based on the combination of wavelet transform and neural network arithmetic. The hybrid system in this paper consists of an emulated wind turbine generator, PV panels, DC and AC loads, lithium ion battery, and super capacitor, which are all connected on a DC bus with unified DC voltage. The control strategy is responsible for compensating the difference between the generated power from the wind and solar generators and the demanded power by the loads. Wavelet transform decomposes the power difference into smoothed component and fast fluctuated component. In consideration of battery protection, the neural network is introduced to calculate the reference power of battery. Super capacitor (SC is controlled to regulate the DC bus voltage. The model of the hybrid system is developed in detail under Matlab/Simulink software environment.

  16. Design and flight performance of hybrid underwater glider with controllable wings

    Directory of Open Access Journals (Sweden)

    Yanhui Wang

    2017-05-01

    Full Text Available Hybrid underwater glider combines motion modes of traditional autonomous underwater glider and those of autonomous underwater vehicles. Different motion modes need different flight performance, including flight efficiency, static stability, and maneuverability. Conventional hybrid underwater glider with fixed wings can’t achieve optimal flight performance in one flight mission demanding various motion modes. In this article, controllable wings for hybrid underwater glider Petrel II are designed. Angle of attack, sweep angle, and aspect ratio of controllable wings can be changed to adapt to different motion modes. Kinematics and dynamics models of Petrel II are established based on multibody theory. Motion simulations of Petrel II with different wing configurations are conducted in three motion modes, including glide motion, spiral motion, and horizontal turning motion. The simulation results show the impact of wing parameters on flight performance. Field trials demonstrate that the controllable wings can improve the flight performance.

  17. Research on excitation controller and relay protection of the real-time hybrid simulation platform

    Energy Technology Data Exchange (ETDEWEB)

    San, L.C.; Pei, Z.; Zhigang, H. [Macau Univ., Macau (China). Dept. of Electrical and Electronics Engineering

    2007-07-01

    This paper presented details of a power system hybrid simulation platform designed to perform real-time hybrid simulations of electromechanical transient software and the physical devices used in large-scale power systems. The system used a communication program as an interface between the software simulation and other physical devices such as excitation controllers and relay protectors. Devices were simulated by using analog circuits. A PI controller was used to complete the closed-loop simulation. The simulation program was used to calculate electromechanical transients in a 36-node power system model, an excitation controller, and a relay protector. A 3-phase short circuit fault was applied to the program. Results of the experiments demonstrated that static errors of less than 3 per cent were achieved using the hybrid system. It was concluded that the platform's communication time ranged between 1 to 2 milliseconds. 6 refs., 1 tab., 7 figs.

  18. ADRC and Feedforward Hybrid Control System of PMSM

    Directory of Open Access Journals (Sweden)

    Song Wang

    2013-01-01

    Full Text Available The permanent-magnet synchronous motor (PMSM is a complex controlled object that is difficult to drive and control. In this study, the vector control strategy is adopted to drive the PMSM. The active disturbance rejection controller is used to achieve the closed-loop control of PMSM, which simplifies the computational complexity. A load torque observer and feedforward compensation component are designed to overcome the PMSM speed fluctuation of the load disturbance. An experimental system based on the DSP board is designed to test the controller performance. The results validate the control algorithm.

  19. A novel high energy hybrid Li-ion capacitor with a three-dimensional hierarchical ternary nanostructure of hydrogen-treated TiO2 nanoparticles/conductive polymer/carbon nanotubes anode and an activated carbon cathode

    Science.gov (United States)

    Tang, Gang; Cao, Liujun; Xiao, Peng; Zhang, Yunhuai; Liu, Hao

    2017-07-01

    Lithium ion capacitors (LICs) are considered to be high-performance energy storage devices that have stimulated intense attention to bridge the gap between lithium ion battery and supercapacitor. Currently, the major challenge for LICs has been to improve the energy density without sacrificing the high rate of power output performance. Herein, we designed a three-dimensional (3D) hierarchical porous nanostructure of hydrogen-treated TiO2 nanoparticles wrapped conducting polymer polypyrrole (PPy) framework with single-walled carbon nanotubes (SWCNTs) hybrid (denoted as, H-TiO2/PPy/SWCNTs) anode material for LICs through a conventional and green approach. Such a unique network can offer continuous electron transport and reduce the diffusion length of lithium ions. A greatly lithium storage specific capacity is achieved with reversible discharge capacity ∼213 mA h g-1 (based on the mass of TiO2) over 50 cycles (@ 0.1 A g-1), which is almostly three times compared with raw TiO2 (a commercial TiO2 nanoparticles powder). In addition, coupled with commercial activated carbon (AC) cathode, the fully assembled H-TiO2/PPy/SWCNTs//AC LICs delivers a maximum energy and power densities of 31.3 Wh kg-1 and 4 kW kg-1, a reasonably good cycling stability (∼77.8% retention after 3000 cycles) within the voltage range of 1.0-3.0 V.

  20. Hybrid Droop Control Strategy Applied to Grid-Supporting Converters in DC Microgrids: Modeling, Design and Analysis

    DEFF Research Database (Denmark)

    Han, Renke; Meng, Lexuan; Guerrero, Josep M.

    2017-01-01

    The paper proposes a hybrid droop control strategy to enhance the stability and increase maximum constant power loads (CPLs) capability of DC microgrids in a realistic scenario. By capturing the detailed model of inner control loops and hybrid droop control and general dc MG topology, a thorough...

  1. Hybrid Droop Control Strategy Applied to Grid-Supporting Converters in DC Microgrids: Modeling, Design and Analysis

    DEFF Research Database (Denmark)

    Han, Renke; Meng, Lexuan; Guerrero, Josep M.

    2017-01-01

    The paper proposes a hybrid droop control strategy to enhance the stability and increase maximum constant power loads (CPLs) capability of DC microgrids in a realistic scenario. By capturing the detailed model of inner control loops and hybrid droop control and general dc MG topology, a thorough ...

  2. Torque Coordination Control during Braking Mode Switch for a Plug-in Hybrid Electric Vehicle

    Directory of Open Access Journals (Sweden)

    Yang Yang

    2017-10-01

    Full Text Available Hybrid vehicles usually have several braking systems, and braking mode switches are significant events during braking. It is difficult to coordinate torque fluctuations caused by mode switches because the dynamic characteristics of braking systems are different. In this study, a new type of plug-in hybrid vehicle is taken as the research object, and braking mode switches are divided into two types. The control strategy of type one is achieved by controlling the change rates of clutch hold-down and motor braking forces. The control strategy of type two is achieved by simultaneously changing the target braking torque during different mode switch stages and controlling the motor to participate in active coordination control. Finally, the torque coordination control strategy is modeled in MATLAB/Simulink, and the results show that the proposed control strategy has a good effect in reducing the braking torque fluctuation and vehicle shocks during braking mode switches.

  3. Hybrid Model Predictive Control for Optimizing Gestational Weight Gain Behavioral Interventions.

    Science.gov (United States)

    Dong, Yuwen; Rivera, Daniel E; Downs, Danielle S; Savage, Jennifer S; Thomas, Diana M; Collins, Linda M

    2013-01-01

    Excessive gestational weight gain (GWG) represents a major public health issue. In this paper, we pursue a control engineering approach to the problem by applying model predictive control (MPC) algorithms to act as decision policies in the intervention for assigning optimal intervention dosages. The intervention components consist of education, behavioral modification and active learning. The categorical nature of the intervention dosage assignment problem dictates the need for hybrid model predictive control (HMPC) schemes, ultimately leading to improved outcomes. The goal is to design a controller that generates an intervention dosage sequence which improves a participant's healthy eating behavior and physical activity to better control GWG. An improved formulation of self-regulation is also presented through the use of Internal Model Control (IMC), allowing greater flexibility in describing self-regulatory behavior. Simulation results illustrate the basic workings of the model and demonstrate the benefits of hybrid predictive control for optimized GWG adaptive interventions.

  4. A Design of a Hybrid Non-Linear Control Algorithm

    Directory of Open Access Journals (Sweden)

    Farinaz Behrooz

    2017-11-01

    Full Text Available One of the high energy consuming devices in the buildings is the air-conditioning system. Designing a proper controller to consider the thermal comfort and simultaneously control the energy usage of the device will impact on the system energy efficiency and its performance. The aim of this study was to design a Multiple-Input and Multiple-Output (MIMO, non-linear, and intelligent controller on direct expansion air-conditioning system The control algorithm uses the Fuzzy Cognitive Map method as a main controller and the Generalized Predictive Control method is used for assigning the initial weights of the main controller. The results of the proposed controller shows that the controller was successfully designed and works in set point tracking and under disturbance rejection tests. The obtained results of the Generalized Predictive Control-Fuzzy Cognitive Map controller are compared with the previous MIMO Linear Quadratic Gaussian control design on the same direct expansion air-conditioning system under the same conditions. The comparative results indicate energy savings would be achieved with the proposed controller with long-term usage. Energy efficiency and thermal comfort conditions are achieved by the proposed controller.

  5. LQR-Based Power Train Control Method Design for Fuel Cell Hybrid Vehicle

    Directory of Open Access Journals (Sweden)

    Yun Haitao

    2013-01-01

    Full Text Available Based on the mathematical model of fuel cell hybrid vehicle (FCHV proposed in our previous study, a multistate feedback control strategy of the hybrid power train is designed based on the linear quadratic regulator (LQR algorithm. A Kalman Filter (KF observer is introduced to estimate state of charge (SOC of the battery firstly, and then a linear quadratic regulator is constructed to compute the state feedback gain matrix of the closed-loop control system. At last, simulation and actual test are utilized to demonstrate this new approach.

  6. Online Assessment of Human-Robot Interaction for Hybrid Control of Walking

    Directory of Open Access Journals (Sweden)

    Ana de-los-Reyes

    2011-12-01

    Full Text Available Restoration of walking ability of Spinal Cord Injury subjects can be achieved by different approaches, as the use of robotic exoskeletons or electrical stimulation of the user’s muscles. The combined (hybrid approach has the potential to provide a solution to the drawback of each approach. Specific challenges must be addressed with specific sensory systems and control strategies. In this paper we present a system and a procedure to estimate muscle fatigue from online physical interaction assessment to provide hybrid control of walking, regarding the performances of the muscles under stimulation.

  7. Powertrain Controls Optimization for HD Hybrid Line Haul Trucks - FY2014 Annual Report

    Energy Technology Data Exchange (ETDEWEB)

    Smith, David E. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)

    2014-12-01

    This is a vehicle system level project, encompassing analytical modeling and supervisory controls development as well as experimental verification/validation testing at the component, powertrain, and full vehicle system level. This project supports the goal of petroleum consumption reduction for medium and heavy trucks through the development of advanced hybrid technologies and control systems. VSST has invested previously in R&D to support hybrid energy storage systems (Li-ion plus ultra-caps) for light duty, passenger car applications. This research will be extended to the MD and HD sector where current battery technology is not mature enough to handle the substantial regenerative braking power levels these trucks are capable of producing. With this hybrid energy storage system, substantial gains in overall vehicle efficiency are possible. In addition, advanced combustion technologies, such as RCCI, will be implemented into an advanced hybrid powertrain for a Class 8 line haul application. This powertrain, leveraged from other VSST work (Meritor, a current ORNL/VSST partner), is ideal for taking advantage of the benefits of RCCI operation due to its series hybrid mode of operation. Emissions control is also a focus of this project, especially due to the fact that RCCI creates a low temperature exhaust stream that must addressed.

  8. Hybrid position/force and positional accuracy controller for a hydraulic manipulator

    Science.gov (United States)

    Unruh, Stanley G.; Faddis, Terry N.; Greenway, Bryan R.; Hibbard, Wilthea

    1995-12-01

    A hybrid position/force controller is presented for a 6 DOF hydraulic manipulator. The controller has been implemented on a Kraft telerobotic slave which has been modified to accommodate a 6 DOF force/torque sensor at the wrist. The controller is implemented within the task frame, and both the position and force are controlled with a non-conventional hybrid control method. Positional accuracy control is maintained at the joint level by using a joint error prediction method based on measured joint torques which have been low-pass filtered. This prediction method eliminates the need for integral gains, which introduce unwanted limit cycling. Dynamic stability is maintained and Cartesian positional error is held to less than 0.2 inches. Conventional hybrid control is based on the ability to control joint torques, but hydraulic actuator torque can not generally be directly controlled. We instead employ a feedback loop which adjusts positional commands along force controlled DOFs until desired end effector force/,moments have been realized. This feedback loop has been implemented in both joint and Cartesian space. The joint space feedback method is based on the observed joint error verses joint torque characteristics used in the positional accuracy control portion. The joint space method has better force tracking capabilities than the Cartesian method, but is not stable for all robot configurations. Cartesian space feedback method has sufficient force tracking for a useful range of tasks, and is stable for all configurations.

  9. Control Synthesis for a Class of Hybrid Systems Subject to Configuration-Based Safety Constraints

    Science.gov (United States)

    Heymann, Michael; Lin, Feng; Meyer, George

    1997-01-01

    We examine a class of hybrid systems which we call Composite Hybrid Machines (CHM's) that consists of the concurrent (and partially synchronized) operation of Elementary Hybrid Machines (EHM's). Legal behavior, specified by a set of illegal configurations that the CHM may not enter, is to be achieved by the concurrent operation of the CHM with a suitably designed legal controller. In the present paper we focus on the problem of synthesizing a legal controller, whenever such a controller exists. More specifically, we address the problem of synthesizing the minimally restrictive legal controller. A controller is minimally restrictive if, when composed to operate concurrently with another legal controller, it will never interfere with the operation of the other controller and, therefore, can be composed to operate concurrently with any other controller that may be designed to achieve liveness specifications or optimality requirements without the need to reinvestigate or reverify legality of the composite controller. We confine our attention to a special class of CHM's where system dynamics is rate-limited and legal guards are conjunctions or disjunctions of atomic formulas in the dynamic variables (of the type x less than or equal to x(sub 0), or x greater than or equal to x(sub 0)). We present an algorithm for synthesis of the minimally restrictive legal controller. We demonstrate our approach by synthesizing a minimally restrictive controller for a steam boiler (the verification of which recently received a great deal of attention).

  10. The use of hybrid automata for fault-tolerant vibration control for parametric failures

    Science.gov (United States)

    Byreddy, Chakradhar; Frampton, Kenneth D.; Yongmin, Kim

    2006-03-01

    The purpose of this work is to make use of hybrid automata for vibration control reconfiguration under system failures. Fault detection and isolation (FDI) filters are used to monitor an active vibration control system. When system failures occur (specifically parametric faults) the FDI filters detect and identify the specific failure. In this work we are specifically interested in parametric faults such as changes in system physical parameters; however this approach works equally well with additive faults such as sensor or actuator failures. The FDI filter output is used to drive a hybrid automaton, which selects the appropriate controller and FDI filter from a library. The hybrid automata also implements switching between controllers and filters in order to maintain optimal performance under faulty operating conditions. The biggest challenge in developing this system is managing the switching and in maintaining stability during the discontinuous switches. Therefore, in addition to vibration control, the stability associated with switching compensators and FDI filters is studied. Furthermore, the performance of two types of FDI filters is compared: filters based on parameter estimation methods and so called "Beard-Jones" filters. Finally, these simulations help in understanding the use of hybrid automata for fault-tolerant control.

  11. Hybrid FES-robot cooperative control of ambulatory gait rehabilitation exoskeleton.

    Science.gov (United States)

    del-Ama, Antonio J; Gil-Agudo, Angel; Pons, José L; Moreno, Juan C

    2014-03-04

    Robotic and functional electrical stimulation (FES) approaches are used for rehabilitation of walking impairment of spinal cord injured individuals. Although devices are commercially available, there are still issues that remain to be solved. Control of hybrid exoskeletons aims at blending robotic exoskeletons and electrical stimulation to overcome the drawbacks of each approach while preserving their advantages. Hybrid actuation and control have a considerable potential for walking rehabilitation but there is a need of novel control strategies of hybrid systems that adequately manage the balance between FES and robotic controllers. Combination of FES and robotic control is a challenging issue, due to the non-linear behavior of muscle under stimulation and the lack of developments in the field of hybrid control. In this article, a cooperative control strategy of a hybrid exoskeleton is presented. This strategy is designed to overcome the main disadvantages of muscular stimulation: electromechanical delay and change in muscle performance over time, and to balance muscular and robotic actuation during walking.Experimental results in healthy subjects show the ability of the hybrid FES-robot cooperative control to balance power contribution between exoskeleton and muscle stimulation. The robotic exoskeleton decreases assistance while adequate knee kinematics are guaranteed. A new technique to monitor muscle performance is employed, which allows to estimate muscle fatigue and implement muscle fatigue management strategies. Kinesis is therefore the first ambulatory hybrid exoskeleton that can effectively balance robotic and FES actuation during walking. This represents a new opportunity to implement new rehabilitation interventions to induce locomotor activity in patients with paraplegia.Acronym list: 10 mWT: ten meters walking test; 6 MWT: six minutes walking test; FSM: finite-state machine; t-FSM: time-domain FSM; c-FSM: cycle-domain FSM; FES: functional electrical

  12. Research of Current Control Strategy of Hybrid Active Power Filter Based on Fuzzy Recursive Integral PI Control Algorithm

    Science.gov (United States)

    Tang, Zhong; Liao, Daifa

    According to the current control characters of hybrid active power filter (HAPF), the current control model of HAPF is designed. The fuzzy recursive integral PI control algorithm is presented when it is compared to conventional PI control method. The control algorithm is applied to auto-regulate the proportional and integral parameters of PI. Thus, the robustness and response speed is enhanced; the dynamic performance of the HAPF device is improved. Under Matlab/Simulink background, a fuzzy recursive integral PI controller is designed and it is applied in a HAPF model in PSCAD/EMTDC. The results prove the feasibility and effectiveness of this fuzzy recursive integral PI control algorithm.

  13. Biomimetic synthesis of hybrid hydroxyapatite nanoparticles using nanogel template for controlled release of bovine serum albumin.

    Science.gov (United States)

    Qin, Jinli; Zhong, Zhenyu; Ma, Jun

    2016-05-01

    A biomimetic method was used to prepare hybrid hydroxyapatite (HAP) nanoparticles with chitosan/polyacrylic acid (CS-PAA) nanogel. The morphology, structure, crystallinity, thermal properties and biocompatibility of the obtained hybrid nanogel-HAP nanoparticles have been characterized. In addition, bovine serum albumin (BSA) was used as a model protein to study the loading and release behaviors of the hybrid nanogel-HAP nanoparticles. The results indicated that the obtained HAP nanoparticles were agglomerated and the nanogel could regulate the formation of HAP. When the nanogel concentration decreased, different HAP crystal shapes and agglomerate structures were obtained. The loading amount of BSA reached 67.6 mg/g for the hybrid nanoparticles when the mineral content was 90.4%, which decreased when the nanogel concentration increased. The release profile of BSA was sustained in neutral buffer. Meanwhile, an initial burst release was found at pH 4.5 due to the desorption of BSA from the surface, followed by a slow release. The hemolysis percentage of the hybrid nanoparticles was close to the negative control, and these particles were non-toxic to bone marrow stromal stem cells. The results suggest that these hybrid nanogel-HAP nanoparticles are promising candidate materials for biocompatible drug delivery systems. Copyright © 2016 Elsevier B.V. All rights reserved.

  14. Distributed Control Strategy for Autonomous Operation of Hybrid AC/DC Microgrid

    Directory of Open Access Journals (Sweden)

    Jongbok Baek

    2017-03-01

    Full Text Available This paper proposes a distributed control strategy that considers several source characteristics to achieve reliable and efficient operation of a hybrid ac/dc microgrid. The proposed control strategy has a two-level structure. The primary control layer is based on an adaptive droop method, which allows local controllers to operate autonomously and flexibly during disturbances such as fault, load variation, and environmental changes. For efficient distribution of power, a higher control layer adjusts voltage reference points based on optimized energy scheduling decisions. The proposed hybrid ac/dc microgrid is composed of converters and distributed generation units that include renewable energy sources (RESs and energy storage systems (ESSs. The proposed control strategy is verified in various scenarios experimentally and by simulation.

  15. Model predictive control for power fluctuation supression in hybrid wind/PV/battery systems

    DEFF Research Database (Denmark)

    You, Shi; Liu, Zongyu; Zong, Yi

    2015-01-01

    A hybrid energy system, the combination of wind turbines, PV panels and battery storage with effective control mechanism, represents a promising solution to the power fluctuation problem when integrating renewable energy resources (RES) into conventional power systems. This paper proposes a model...... predictive control (MPC)-based algorithm for battery management in a hybrid wind/PV/battery system to suppress the short-term power fluctuation on the ‘minute’ scale. A case study with data collected from a practical hybrid system setup is used to demonstrate the effectiveness of the proposed algorithm...... together with a Monte Carlo simulation-based sensitivity analysis. In addition to illustrating the complementarity between the fluctuations of wind power and PV power, the results prove the proposed MPC algorithm is effective in fluctuation suppression but sensitive to factors such as forecast accuracy...

  16. A DNA origami nanorobot controlled by nucleic acid hybridization

    KAUST Repository

    Torelli, Emanuela

    2014-03-20

    A prototype for a DNA origami nanorobot is designed, produced, and tested. The cylindrical nanorobot (diameter of 14 nm and length of 48 nm) with a switchable flap, is able to respond to an external stimulus and reacts by a physical switch from a disarmed to an armed configuration able to deliver a cellular compatible message. In the tested design the robot weapon is a nucleic acid fully contained in the inner of the tube and linked to a single point of the internal face of the flap. Upon actuation the nanorobot moves the flap extracting the nucleic acid that assembles into a hemin/G-quadruplex horseradish peroxidase mimicking DNAzyme catalyzing a colorimetric reaction or chemiluminescence generation. The actuation switch is triggered by an external nucleic acid (target) that interacts with a complementary nucleic acid that is beard externally by the nanorobot (probe). Hybridization of probe and target produces a localized structural change that results in flap opening. The flap movement is studied on a two-dimensional prototype origami using Förster resonance energy transfer and is shown to be triggered by a variety of targets, including natural RNAs. The nanorobot has potential for in vivo biosensing and intelligent delivery of biological activators. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  17. Stochastic Optimal Control of Parallel Hybrid Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Feiyan Qin

    2017-02-01

    Full Text Available Energy management strategies (EMSs in hybrid electric vehicles (HEVs are highly related to the fuel economy and emission performances. However, EMS constitutes a challenging problem due to the complex structure of a HEV and the unknown or partially known driving cycles. To meet this problem, this paper adopts a stochastic dynamic programming (SDP method for the EMS of a specially designed vehicle, a pre-transmission single-shaft torque-coupling parallel HEV. In this parallel HEV, the auto clutch output is connected to the transmission input through an electric motor, which benefits an efficient motor assist operation. In this EMS, demanded torque of driver is modeled as a one-state Markov process to represent the uncertainty of future driving situations. The obtained EMS has been evaluated with ADVISOR2002 over two standard government drive cycles and a self-defined one, and compared with a dynamic programming (DP one and a rule-based one. Simulation results have shown the real-time performance of the proposed approach, and potential vehicle performance improvement relative to the rule-based one.

  18. A Study on Control Strategy of Regenerative Braking in the Hydraulic Hybrid Vehicle Based on ECE Regulations

    Directory of Open Access Journals (Sweden)

    Tao Liu

    2013-01-01

    Full Text Available This paper establishes a mathematic model of composite braking in the hydraulic hybrid vehicle and analyzes the constraint condition of parallel regenerative braking control algorithm. Based on regenerative braking system character and ECE (Economic Commission of Europe regulations, it introduces the control strategy of regenerative braking in parallel hydraulic hybrid vehicle (PHHV. Finally, the paper establishes the backward simulation model of the hydraulic hybrid vehicle in Matlab/simulink and makes a simulation analysis of the control strategy of regenerative braking. The results show that this strategy can equip the hydraulic hybrid vehicle with strong brake energy recovery power in typical urban drive state.

  19. Risk-sensitive control of stochastic hybrid systems on infinite time horizon

    OpenAIRE

    Thordur Runolfsson

    1999-01-01

    A risk-sensitive optimal control problem is considered for a hybrid system that consists of continuous time diffusion process that depends on a discrete valued mode variable that is modeled as a Markov chain. Optimality conditions are presented and conditions for the existence of optimal controls are derived. It is shown that the optimal risk-sensitive control problem is equivalent to the upper value of an associated stochastic differential game, and insight into the contributions of the nois...

  20. Hybrid Invariance and Stability of a Feedback Linearizing Controller for Powered Prostheses

    OpenAIRE

    Martin, Anne E.; Gregg, Robert D.

    2015-01-01

    The development of powered lower-limb prostheses has the potential to significantly improve amputees’ quality of life. By applying advanced control schemes, such as hybrid zero dynamics (HZD), to prostheses, more intelligent prostheses could be designed. Originally developed to control bipedal robots, HZD-based control specifies the motion of the actuated degrees of freedom using output functions to be zeroed, and the required torques are calculated using feedback linearization. Previous work...

  1. A Frequency Control Approach for Hybrid Power System Using Multi-Objective Optimization

    Directory of Open Access Journals (Sweden)

    Mohammed Elsayed Lotfy

    2017-01-01

    Full Text Available A hybrid power system uses many wind turbine generators (WTG and solar photovoltaics (PV in isolated small areas. However, the output power of these renewable sources is not constant and can diverge quickly, which has a serious effect on system frequency and the continuity of demand supply. In order to solve this problem, this paper presents a new frequency control scheme for a hybrid power system to ensure supplying a high-quality power in isolated areas. The proposed power system consists of a WTG, PV, aqua-electrolyzer (AE, fuel cell (FC, battery energy storage system (BESS, flywheel (FW and diesel engine generator (DEG. Furthermore, plug-in hybrid electric vehicles (EVs are implemented at the customer side. A full-order observer is utilized to estimate the supply error. Then, the estimated supply error is considered in a frequency domain. The high-frequency component is reduced by BESS and FW; while the low-frequency component of supply error is mitigated using FC, EV and DEG. Two PI controllers are implemented in the proposed system to control the system frequency and reduce the supply error. The epsilon multi-objective genetic algorithm ( ε -MOGA is applied to optimize the controllers’ parameters. The performance of the proposed control scheme is compared with that of recent well-established techniques, such as a PID controller tuned by the quasi-oppositional harmony search algorithm (QOHSA. The effectiveness and robustness of the hybrid power system are investigated under various operating conditions.

  2. Finite state control of a variable impedance hybrid neuroprosthesis for locomotion after paralysis.

    Science.gov (United States)

    Bulea, Thomas C; Kobetic, Rudi; Audu, Musa L; Schnellenberger, John R; Triolo, Ronald J

    2013-01-01

    We have previously reported on a novel variable impedance knee mechanism (VIKM). The VIKM was designed as a component of a hybrid neuroprosthesis to regulate knee flexion. The hybrid neuroprosthesis is a device that uses a controllable brace to support the body against collapse while stimulation provides power for movement. The hybrid neuroprosthesis requires a control system to coordinate the actions of the VIKM with the stimulation system; the development and evaluation of such a controller is presented. Brace mounted sensors and a baseline open loop stimulation pattern are utilized as control signals to activate the VIKM during stance phase while simultaneously modulating muscle stimulation in an on-off fashion. The objective is twofold: reduce the amount of stimulation necessary for walking while simultaneously restoring more biologically correct knee motion during stance using the VIKM. Custom designed hardware and software components were developed for controller implementation. The VIKM hybrid neuroprosthesis (VIKM-HNP) was evaluated during walking in one participant with thoracic level spinal cord injury. In comparison to walking with functional neuromuscular stimulation alone, the VIKM-HNP restored near normal stance phase knee flexion during loading response and pre-swing phases while decreasing knee extensor stimulation by up to 40%.

  3. A Study on Control Strategy of Regenerative Braking in the Hydraulic Hybrid Vehicle Based on ECE Regulations

    OpenAIRE

    Tao Liu; Jincheng Zheng; Yongmao Su; Jinghui Zhao

    2013-01-01

    This paper establishes a mathematic model of composite braking in the hydraulic hybrid vehicle and analyzes the constraint condition of parallel regenerative braking control algorithm. Based on regenerative braking system character and ECE (Economic Commission of Europe) regulations, it introduces the control strategy of regenerative braking in parallel hydraulic hybrid vehicle (PHHV). Finally, the paper establishes the backward simulation model of the hydraulic hybrid vehicle in Matlab/simul...

  4. A hybrid iterative scheme for optimal control problems governed by ...

    African Journals Online (AJOL)

    MRT

    obtaining approximate solutions of optimal control problems governed by some Fredholm integral equations. By some numerical ... Trace of numerical approaches in optimal control problems can be found in many applications and academic literatures. ...... Progress In Electromagnetics Research 78: 361–376. Ghasemi, M.

  5. Biologically Inspired Modular Neural Control for a Leg-Wheel Hybrid Robot

    DEFF Research Database (Denmark)

    Manoonpong, Poramate; Wörgötter, Florentin; Laksanacharoen, Pudit

    2014-01-01

    In this article we present modular neural control for a leg-wheel hybrid robot consisting of three legs with omnidirectional wheels. This neural control has four main modules having their functional origin in biological neural systems. A minimal recurrent control (MRC) module is for sensory signal...... processing and state memorization. Its outputs drive two front wheels while the rear wheel is controlled through a velocity regulating network (VRN) module. In parallel, a neural oscillator network module serves as a central pattern generator (CPG) controls leg movements for sidestepping. Stepping directions...... or they can serve as useful modules for other module-based neural control applications....

  6. Hybrid zero-voltage switching (ZVS) control for power inverters

    Science.gov (United States)

    Amirahmadi, Ahmadreza; Hu, Haibing; Batarseh, Issa

    2016-11-01

    A power inverter combination includes a half-bridge power inverter including first and second semiconductor power switches receiving input power having an intermediate node therebetween providing an inductor current through an inductor. A controller includes input comparison circuitry receiving the inductor current having outputs coupled to first inputs of pulse width modulation (PWM) generation circuitry, and a predictive control block having an output coupled to second inputs of the PWM generation circuitry. The predictive control block is coupled to receive a measure of Vin and an output voltage at a grid connection point. A memory stores a current control algorithm configured for resetting a PWM period for a switching signal applied to control nodes of the first and second power switch whenever the inductor current reaches a predetermined upper limit or a predetermined lower limit.

  7. A hybrid Force Position Control for a Upper Limb Rehabilitation Robot of Series Mechanism

    Directory of Open Access Journals (Sweden)

    Liu Yali

    2016-01-01

    Full Text Available Interactive rehabilitation robot which has better interaction is one main method to improve the patients’ motion performance. The rehabilitation robot developed by Tsinghua University UECM for patients having weakness with shoulder and elbow should be improved by increasing interactive parts to adapt to patients’ state. This paper described one control strategy to increase the interaction between robot and patients. The hybrid force position control for the upper limb rehabilitation robot UECM was developed to improve the patients’ voluntary motion in exercises by controlling the robot to provide external forces according to the patients’ forces and motion velocity. The hybrid force position controlled robot will be used for stroke patients under different states since its interactive control method

  8. Hybrid Switching Controller Design for the Maneuvering and Transit of a Training Ship

    Directory of Open Access Journals (Sweden)

    Tomera Mirosław

    2017-03-01

    Full Text Available The paper presents the design of a hybrid controller used to control the movement of a ship in different operating modes, thereby improving the performance of basic maneuvers. This task requires integrating several operating modes, such as maneuvering the ship at low speeds, steering the ship at different speeds in the course or along the trajectory, and stopping the ship on the route. These modes are executed by five component controllers switched on and off by the supervisor depending on the type of operation performed. The desired route, containing the coordinates of waypoints and tasks performed along consecutive segments of the reference trajectory, is obtained by the supervisory system from the system operator. The former supports switching between component controllers and provides them with new set-points after each change in the reference trajectory segment, thereby ensuring stable operation of the entire hybrid switching controller.

  9. Optimal Design and Hybrid Control for the Electro-Hydraulic Dual-Shaking Table System

    Directory of Open Access Journals (Sweden)

    Lianpeng Zhang

    2016-08-01

    Full Text Available This paper is to develop an optimal electro-hydraulic dual-shaking table system with high waveform replication precision. The parameters of hydraulic cylinders, servo valves, hydraulic supply power and gravity balance system are designed and optimized in detail. To improve synchronization and tracking control precision, a hybrid control strategy is proposed. The cross-coupled control using a novel based on sliding mode control based on adaptive reaching law (ASMC, which can adaptively tune the parameters of sliding mode control (SMC, is proposed to reduce the synchronization error. To improve the tracking performance, the observer-based inverse control scheme combining the feed-forward inverse model controller and disturbance observer is proposed. The system model is identified applying the recursive least squares (RLS algorithm and then the feed-forward inverse controller is designed based on zero phase error tracking controller (ZPETC technique. To compensate disturbance and model errors, disturbance observer is used cooperating with the designed inverse controller. The combination of the novel ASMC cross-coupled controller and proposed observer-based inverse controller can improve the control precision noticeably. The dual-shaking table experiment system is built and various experiments are performed. The experimental results indicate that the developed system with the proposed hybrid control strategy is feasible and efficient and can reduce the tracking errors to 25% and synchronization error to 16% compared with traditional control schemes.

  10. Modeling and Nonlinear Control of Fuel Cell / Supercapacitor Hybrid Energy Storage System for Electric Vehicles

    DEFF Research Database (Denmark)

    El Fadil, Hassan; Giri, Fouad; Guerrero, Josep M.

    2014-01-01

    This paper deals with the problem of controlling hybrid energy storage system (HESS) for electric vehicle. The storage system consists of a fuel cell (FC), serving as the main power source, and a supercapacitor (SC), serving as an auxiliary power source. It also contains a power block for energy...

  11. A Piecewise Affine Hybrid Systems Approach to Fault Tolerant Satellite Formation Control

    DEFF Research Database (Denmark)

    Grunnet, Jacob Deleuran; Larsen, Jesper Abildgaard; Bak, Thomas

    2008-01-01

    In this paper a procedure for modelling satellite formations   including failure dynamics as a piecewise-affine hybrid system is   shown. The formulation enables recently developed methods and tools   for control and analysis of piecewise-affine systems to be applied   leading to synthesis of fau...

  12. Two hybrid ARQ error control schemes for near Earth satellite communications

    Science.gov (United States)

    Lin, S.

    1986-01-01

    Two hybrid Automatic Repeat Request (ARQ) error control schemes are proposed for NASA near Earth satellite communications. Both schemes are adaptive in nature, and employ cascaded codes to achieve both high reliability and throughput efficiency for high data rate file transfer.

  13. Coordinated Control Strategy for a Hybrid Wind Farm with DFIG and PMSG under Symmetrical Grid Faults

    Directory of Open Access Journals (Sweden)

    Jiawei Li

    2017-05-01

    Full Text Available This paper presents a coordinated control strategy for a hybrid wind farm with doubly-fed induction generator (DFIG- and direct-driven permanent-magnet synchronous generator (PMSG-based wind turbines under symmetrical grid faults. The proposed low-voltage ride-through (LVRT strategy is based on a novel current allocation principle and is implemented for individual DFIG- or PMSG-based wind turbines. No communication equipment between different wind power generators is required. By monitoring the local voltages and active power outputs of the corresponding wind generators, the proposed control strategy can control the hybrid wind farm to provide the maximum reactive power to support the grid voltage during a symmetrical grid fault. As a result, the reduction in the active power output from the hybrid wind farm can be decreased, which also helps avoid generator over-speed issues and supply active power support for the power grid. In addition, the reactive current upper limits of DFIG- and PMSG-based sub-wind farms are investigated by considering different active power outputs and different grid voltage dip depths, and the feasible regions of the two types of sub-wind farms for meeting the LVRT requirements are further studied. Finally, the effectiveness of the proposed coordinated LVRT control strategy for the hybrid wind farm is validated by simulation and experimental results.

  14. Hybrid Control Method for a Single Phase PFC using a Low Cost Microcontroller

    DEFF Research Database (Denmark)

    Jakobsen, Lars Tønnes; Nielsen, Nils; Wolf, Christian

    2005-01-01

    This paper presents a hybrid control method for single phase boost PFCs. The high bandwidth current loop is analog while the voltage loop is implemented in an 8-bit microcontroller. The design focuses on minimizing the number of calculations done in the microcontroller. A 1kW prototype has been...

  15. Object oriented simulation of hybrid renewable energy systems focused on supervisor control

    OpenAIRE

    Barambones Caramazana, Oscar; González de Durana García, José María

    2009-01-01

    EFTA 2009 With eyes focused on simulation the authors review some of the main topics of Hybrid Renewable Energy Systems (HRES). Then they describe an Object Oriented model of a simple example of one of such systems, a micro-grid, oriented to designing a decentralized Supervisor Control. The model has been implemented using AnyLogic.

  16. Lyapunov based control of hybrid energy storage system in electric vehicles

    DEFF Research Database (Denmark)

    El Fadil, H.; Giri, F.; Guerrero, Josep M.

    2012-01-01

    This paper deals with a Lyapunov based control principle in a hybrid energy storage system for electric vehicle. The storage system consists on fuel cell (FC) as a main power source and a supercapacitor (SC) as an auxiliary power source. The power stage of energy conversion consists on a boost...

  17. Controlled initiation and quantitative visualization of cell interaction dynamics - a novel hybrid microscopy method -

    NARCIS (Netherlands)

    Snijder-van As, M.I.

    2010-01-01

    This thesis describes the development, validation, and application of a hybrid microscopy technique to study cell-substrate and cell-cell interactions in a controlled and quantitative manner. We studied the spatial and temporal dynamics of the selected membrane molecules CD6 and the activated

  18. Digital Control of a power conditioner for fuel cell/super-capacitor hybrid system

    DEFF Research Database (Denmark)

    Caballero, Juan C Trujillo; Gomis-Bellmunt, Oriol; Montesinos-Miracle, Daniel

    2014-01-01

    This article proposes a digital control scheme to operate a proton exchange membrane fuel cell module of 1.2 kW and a super-capacitor through a DC/DC hybrid converter. A fuel cell has been proposed as a primary source of energy, and a super-capacitor has been proposed as an auxiliary source of en...

  19. Ion-Pair Oligomerization of Chromogenic Triangulenium Cations with Cyanostar-Modified Anions That Controls Emission in Hierarchical Materials

    DEFF Research Database (Denmark)

    Qiao, Bo; Hirsch, Brandon E.; Lee, Semin

    2017-01-01

    to create these materials is limited. In this work, we extend the salts from small halides to large inorganic anions and determine how the structure coevolves with the emission properties using solution assemblies. We study the chromogenic trioxatriangulenium (TOTA+) cation and its coassembly with cyanostar...... (CS) macrocycles selected to modify tetrafluoroborate (BF4 -) counteranions through formation of 2:1 sandwich complexes. In the solid state, the TOTA+ cation stacks in an alternating manner with the sandwich complexes producing new red-shifted emission and absorption bands. Critical to assigning...... the structural origin of the new optical features across the four levels of organization (1° → 4°) is the selection of specific solvents to produce and characterize different assemblies present in the hierarchical structure. A key species is the electrostatically stabilized ion pair between the TOTA+ cation...

  20. A Muscle Synergy-inspired Adaptive Control Scheme for a Hybrid Walking Neuroprosthesis

    Directory of Open Access Journals (Sweden)

    Naji A Alibeji

    2015-12-01

    Full Text Available Abstract--- Abstract--- A hybrid neuroprosthesis that uses an electric motor-based wearable exoskeleton and functional electrical stimulation (FES has a promising potential to restore walking in persons with paraplegia. A hybrid actuation structure introduces effector redundancy, making its automatic control a challenging task because multiple muscles and additional electric motor need to be coordinated. Inspired by the muscle synergy principle, we designed a low dimensional controller to control multiple effectors: FES of multiple muscles and electric motors. The resulting control system may be less complex and easier to control. To obtain the muscle synergy-inspired low dimensional control, a subject-specific gait model was optimized to compute optimal control signals for the multiple effectors. The optimal control signals were then dimensionally reduced by using principal component analysis to extract synergies. Then, an adaptive feedforward controller with an update law for the synergy activation was designed. In addition, feedback control was used to provide stability and robustness to the control design. The adaptive-feedforward and feedback control structure makes the low dimensional controller more robust to disturbances and variations in the model parameters and may help to compensate for other time-varying phenomena (e.g., muscle fatigue. This is proven by using a Lyapunov stability analysis, which yielded semi-global uniformly ultimately bounded tracking. Computer simulations were performed to test the new controller on a 4 degree of freedom gait model.