Main Controller Research Articles

Trajectory Tracking of a Quadcopter UAV using PID Controller

UAVs or Drones are aircraft with no onboard pilot to control the flight. They are introduced in a few categories such as single-rotor, multi-rotors, fixed-wing, and hybrid VTOL. As for multirotor drones, quadcopters are the most well-known either commercially or in the research field. Due to its advantages, a quadcopter has been chosen to perform various tasks across various fields such as entertainment, military, meteorological reconnaissance, civil and emergency responses. As the demand for quadcopters has diverged, the required features of quadcopters have also diverged. One of the current features required by quadcopters is the ability to track trajectories. However, due to its nature of non-linearity, under-actuated and unstable, controlling quadcopter for an accurate and stable performance is quite a challenge. Despite the various proposed methods throughout the past decades, PID controller is still used as either the main controller or the base controller in most cases of industrial control, including quadcopter, mainly due to its simplicity and robustness. However, to design a proper PID controller for quadcopter system is a challenge as it defies the control inputs of four with its six degree-of-freedom form, in which six inputs are required to be controlled to ensure a stable and accurate flight. This paper derived a mathematically model of a quadcopter with Newton-Euler’s equation. Some assumptions on the body and structure of the quadcopter are taken into account to make the modelling possible. Then, a manually tuned PID controller is designed to achieve the objective of controlling the operation and stability of the quadcopter during its flight. The designed controller is tested with five different trajectories which are circular, square, lemniscate, zigzag, and spiral. The results show the proposed controller successfully tracks the desired trajectories, which prove PID controller can be used to control a quadcopter.

Design Decoupling Control and Wavelet Type-2 Fuzzy Brain Imitated Neural Network (WT2FBINN) for rotational actuator (TORA) System

In this article, a new wavelet type-2 fuzzy brain imitated neural network (WT2FBINN) is presented for nonlinear system decoupling control. A sliding mode control combined with a decoupling control is illustrated. The control system comprises of a proposed WT2FBINN and a robust controller. The WT2FBINN is used as the main controller to approach an ideal controller to achieve desired control performance, and the robust controller is used to eliminate the approximation error to achieve system stability. The WT2FBINN contains a wavelet type-2 fuzzy system and a brain imitated neural network. The parameters of the proposed WT2FBINN can be updated by the gradient descent method. Then, the WIT2FBINN is applied to control underactuated systems, such as a rotational actuator (TORA) system. Finally, simulation results have validated the effectiveness of the proposed control approach. A comparison to a recently developed method is useful for better illustrating the benefits of the proposed method.

Classroom Energy-saving Control System Design

With the continuous development of science and technology, the degree of automation of various products in life is increasing. However, the impact on energy consumption and environment is getting bigger and bigger, and energy saving and emission reduction is gradually becoming a hot topic in the society. The huge loss of electrical energy in colleges and universities makes the development of energy-saving control technology particularly important. In this paper, we design an energy-saving control system for college classrooms based on STM32 main controller, which mainly collects the light intensity and personnel distribution information of classrooms through photoresistor sensors and infrared pyroelectric sensors, and combines software programming to realize effective and group control of classroom lights, so as to achieve the purpose of energy saving. On this basis, a simple upper computer monitoring interface is built to display the collected information, which facilitates real-time monitoring and management of the classroom. The system is analyzed and introduced in detail in three main aspects in the paper. Firstly, the selection of the main controller and its main hardware circuit modules are introduced; secondly, the software process design is centered around the system; finally, using simulation, analysis and online debugging, the light intensity and personnel distribution information collected can be used to control the lamps and lanterns at the corresponding locations of the personnel to turn on. In summary, this paper designs a classroom energy-saving control system to meet the current situation of large energy consumption in college classrooms, which can realize the effective lighting of the corresponding positions according to the changes of natural light environment and different positions of the personnel in the classroom, and verifies the feasibility of this scheme. It provides an idea to effectively reduce the waste of power resources and achieve the purpose of energy saving and emission reduction in colleges and universities.

Voltage Stability Control of Boost Converter Using Linear Quadratic Integrator

This paper proposes an optimal control design to regulate output voltage of DC/DC boost converter. Linear Quadratic Integrator (LQI) was designed by determining Q and R weighting matrices in order to minimize error output voltage on several disturbance scenarios. The state-space average model of the boost converter is generated using MATLAB/Simulink, while the controller gain is obtained using LQI function on MATLAB/M-file. We also conduct simple hardware experiment using Arduino board as the main controller. The simulation results for the two test scenarios, namely changing input condition and changing load condition show an IAE value was less than 0.2. In the hardware experiment result, the steady-state error value was less than 9.5% for the both test scenarios.

BSLPSDN: Base station location privacy via software‐defined networking (SDN) in wireless sensor networks

SummaryBase station's location privacy in a wireless sensor network (WSN) is critical for information security and operational availability of the network. A key part of securing the base station from potential compromise is to secure the information about its physical location. This paper proposes a technique called base station location privacy via software‐defined networking (SDN) in wireless sensor networks (BSLPSDN). The inspiration comes from the architecture of SDN, where the control plane is separated from the data plane, and where control plane decides the policy for the data plane. BSLPSDN uses three categories of nodes, namely, a main controller to instruct the overall operations, a dedicated node to buffer and forward data, and lastly, a common node to sense and forward the packet. We employ three kinds of nodes to collaborate and achieve stealth for the base station and thus protecting it against the traffic‐analysis attacks. Different traits of the WSN including energy status and traffic density can actively be monitored by BSLPSDN, which positively affects the energy goals, expected life of the network, load on common nodes, and the possibility of creating diversion in the wake of an attack on the base station. We incorporated multiple experiments to analyze and evaluate the performance of our proposed algorithm. We use single controller with multiple sensor nodes and multiple controllers with multiple sensor nodes to show the level of anonymity of BS. Experiments show that providing BS anonymity via multiple controllers is the best method both in terms of energy and privacy.

TDP-1 and FUST-1 co-inhibit exon inclusion and control fertility together with transcriptional regulation.

Gene expression is a multistep process and crosstalk among regulatory layers plays an important role in coordinating gene expression. To identify functionally relevant gene expression coordination, we performed a systematic reverse-genetic interaction screen in C. elegans, combining RNA binding protein (RBP) and transcription factor (TF) mutants to generate over 100 RBP;TF double mutants. We identified many unexpected double mutant phenotypes, including two strong genetic interactions between the ALS-related RBPs, fust-1 and tdp-1, and the homeodomain TF ceh-14. Losing any one of these genes alone has no effect on the health of the organism. However, fust-1;ceh-14 and tdp-1;ceh-14 double mutants both exhibit strong temperature-sensitive fertility defects. Both double mutants exhibit defects in gonad morphology, sperm function, and oocyte function. RNA-Seq analysis of double mutants identifies ceh-14 as the main controller of transcript levels, while fust-1 and tdp-1 control splicing through a shared role in exon inhibition. A skipped exon in the polyglutamine-repeat protein pqn-41 is aberrantly included in tdp-1 mutants, and genetically forcing this exon to be skipped in tdp-1;ceh-14 double mutants rescues their fertility. Together our findings identify a novel shared physiological role for fust-1 and tdp-1 in promoting C. elegans fertility and a shared molecular role in exon inhibition.

Research on Intelligent Terminal Based on Distribution Multi-service Integration under The Dual-carbon Target

The distribution network is used to distribute electric energy in the power system, which can reasonably allocate resources according to the power demand of different users. Intelligent terminals for distribution multi-service integration mainly include a distribution switch monitoring module, distribution transformer monitoring module, concentrator, gateway, and main controller. Firstly, the current, voltage, and power of electricity are collected by setting monitoring points in the distribution network and installing current transformers, voltage transformers, and energy meters. The collected data are processed by the distribution transformer monitoring module to improve the effectiveness of the data. Finally, the processed data are sent remotely through the main controller and gateway. By designing a four-in-one intelligent terminal device for distribution multi-service integration, it can monitor power equipment and collect power consumption information of different users, further excavating the potential value of power data, which has practical significance for the improvement of energy utilization efficiency.

Preventive Priority Setting Against Multiple Controller Failures in Software Defined Networks

This paper proposes a preventive priority setting model to minimize the worst-case maximum utilization ratio against multiple controller failures in software defined networks. For a set of controllers able to manage a switch, we introduce a priority for each controller to become the main controller that controls the switch. Once the existing main controller fails, the survived controller which has the highest priority works as the main controller. This reassignment is automatically obtained according to the priority setting decided at the network operation start time. In this way, the proposed model provides a prompt recovery with reducing the network instability due to unnecessary controller reassignment. We formulate the proposed model in two different forms, which are an integer linear programming formulation and a min-max formulation. We prove that the considered problem is NP-hard. A basic heuristic is introduced based on the min-max formulation. Its two extensions are further developed considering the accuracy and the computation time in practical computation. Numerical results reveal that, compared to two baselines that sacrifice certain network stability to achieve a more flexible reassignment, the proposed model reduces the network instability by <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$27\%$</tex-math></inline-formula> and <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$52\%$</tex-math></inline-formula> in average, respectively, with obtaining the comparable maximum utilization ratio.

Design of Urban Public Landscape Lighting Control System Based on Dmx512 Protoco

Design an urban public landscape lighting control system based on DMX512 protocol to improve the lighting effect of urban public landscapes. The system uses the upper computer urban public landscape scene transformation software to edit the colour change data of urban public landscape lamps, set a reasonable number of sub-controllers according to the actual needs of urban public landscape scenes, and store relevant data in the SD card of the data storage layer. The Ethernet transmits the data in the SD card to the lighting control module, the main controller transmits the data in the SD card to the sub-controller, and the ARM of the sub-controller decodes the urban public landscape scene data, and uses the fireworks algorithm-fuzzy adaptive PID. The control algorithm solves the control data of urban public landscape lighting lamps, and the data that meets the DMX512 protocol is edited by FPGA and transmitted to the DMX512 controller. Through the DMX512 controller, the control data of urban public landscape lighting lamps is transmitted to the equipment module realize the control of LED lamps for urban public landscape lighting. The experimental results show that the response speed of the system is fast, at 0.60s it can quickly reach the illuminance value of the park landscape lighting LED light 7.5 lx set in the experiment, and its control ability is strong. At the same time, the system has high software and hardware compatibility and system stability. Better, in multiple operating systems, there will be no problems such as flashback, blue screen, crash, etc., ensuring the safe operation of the PC and improving the effect of park landscape lighting control.

Design and Fabrication of Water Can Cleaning Machine

Aim of this project is to develop a mechanical system for cleaning domestic cylindrical 20 litre water can. A Water Can Cleaning Machine is generally used for cleaning the water can inside and outside the can. Sediment scale and algae get deposited on the outer and inner surface of the water can. So, we have proposed the automatic plastic can washing and drying system in order to resolve the problem of the employees. In this system we are using Relay as main controller. Some of the main benefits of this system are high productive, reliable, accurate, cost effective water can cleaning machine enables to save time and it provides high safety and high efficiency.

Prototype Alat Pendeteksi Kebocoran Gas LPG Berbasis IOT

The role of LPG (Liquefied Petroleum Gas) at this time is very important for human life both in households and in industry. Since the existence of the energy conversion program from petrol to LPG gas, new problems have arisen. Around the beginning of January to July 2010, incidents of explosions of LPG gas tube which claimed cause casualties, and this was confirmed by the widespread coverage in the mass media, especially television. The explosion of an LPG gas tube usually occurs in a three-kilogram gas tube. Leakage of LPG tube or equipment is still one of the main causes of explosions in LPG gas tube, which results from the absence of visible gas leaks. The gas explosion occurs when the LPG gas cannot be recognized by the owner, the position of the gas that is not in accordance with the standard use of the gas can result in a very fatal explosion and cause casualties. Of the many cases circulating in society and industry, it is necessary to treat this type of fuel specifically. Therefore, there is a need for an early warning system for LPG gas and its devices in order to deal with gas leaks which can result in fatalities. This system is designed using the MQ-5 sensor and NodeMCU as the main controller that can connect to the internet. Later this tool is expected to be able to provide early warning in the form of notifications on smartphones to users in the event of a leak in a gas cylinder.

Structure of iso-density sets in supersonic isothermal turbulence

Context. The gas density structure of the cold molecular phase of the interstellar medium is the main controller of star formation. Aims. A theoretical framework is proposed to describe the structural content of the density field in isothermal supersonic turbulence. Methods. It makes use of correlation and structure functions of the phase indicator field defined for different iso-density values. The relations between these two-point statistics and the geometrical features of iso-density sets such as the volume fraction, the surface density, the curvature, and fractal characteristics are provided. An exact scale-by-scale budget equation is further derived revealing the role of the turbulent cascade and dilation on the structural evolution of the density field. Although applicable to many flow situations, this tool is here first invoked for characterising supersonic isothermal turbulence, using data from the currently best-resolved numerical simulation. Results. We show that iso-density sets are surface fractals rather than mass fractals, with dimensions that markedly differ between dilute, neutral, and dense regions. The surface–size relation is established for different iso-density values. We further find that the turbulent cascade of iso-density sets is directed from large towards smaller scales, in agreement with the classical picture that turbulence acts to concentrate more surface into smaller volumes. Intriguingly, there is no range of scales that complies with a constant transfer rate in the cascade, challenging our fundamental understanding of interstellar turbulence. Finally, we recast the virial theorem in a new formulation drawing an explicit relation between the aforementioned geometrical measures and the dynamics of iso-density sets.

RANCANG BANGUN MODUL UKUR TEKANAN PIJAK TELAPAK KAKI ROBOT HUMANOID

Maintaining balance for humanoid robots is one of the core problems to be solved. Krakatau FC as a humanoid type robot performs balancing based on error information obtained from the IMU sensor. Information from the IMU alone is considered inadequate because it ignores the contours of the robot's stepping area which greatly influences the actions that must be taken to maintain balance. The focus of this research is to create a foot pressure measurement module that is compatible with the Dynamixel communication protocol. The sensor used to measure pressure is a Force Sensitive Resistor (FSR) sensor. The test results show the module's ability to measure the pressure exerted by the robot's legs and communicate with the robot's main controller using the Dynamixel protocol. From the test, it is also known that the modules made can help the robot's mechanical calibration process based on the comparison of the pressure between the right and left soles of the feet.

RANCANG BANGUN SISTEM KEAMANAN RUMAH MENGGUNAKAN SENSOR PIR (PASSIVE INFRA RED) DENGAN PERINGATAN SUARA DAN NOTIFIKASI TELEGRAM BERBASIS MIKROKONTROLER NODE MCU

Research has been carried out aimed at:(1) to produce a home security system using a PIR (passive infrared) sensor with voice warnings and telegram notifications based on the MCU node microcontroller. (2) to determine the performance of the resulting home security system. The design uses a node mcu microcontroller as the main controller. The design uses a motion sensor (PIR) to detect motion that occurs inside the house. The design uses an internet modem to send telegram notifications to homeowners. The speed of communication between the microcontroller and Telegram depends on the internet network connection. Sending messages via telegram to the mcu node, it is also assumed that electricity and internet are in a stable condition. A home security system using a PIR (passive infrared) sensor with sound warnings and telegram notifications based on the MCU node microcontroller can be generated. Testing of each component (power supply, PIR sensor, MCU node microcontroller, MP3 player module, limit switch sensor and ESP8266) indicates that each part is functioning and working properly. The performance of the resulting home security system is very good. After the system is activated, any movement detected in the living room and/or terrace of the house as well as windows and/or doors that are detected are open, the system will respond by emitting a sound through the speaker in the form of a warning or informing that a house break-in has occurred while sending a chat telegram to the user.

Stability analysis of hybrid synchronization controller based grid forming control

Synchronization units are vital for the stable operation of grid-tied converters in generation and transmission. There are two main synchronization units, i.e., phase-locked loop (PLL) and power synchronization controller (PSC), with the corresponding drawbacks in weak and strong grid respectively. Recently, the hybrid synchronization controller (HSC) is proposed in order to make up the deficiencies of PLL and PSC in weak and strong grid respectively. This paper deduces the detailed impedance characteristics of PSC and HSC and compares their cons and pros to show the stability mechanism of HSC. Moreover, two types of HSCs are also presented and compared in this article with slight difference in structure. It is found that the impedance of Type II based HSC has smaller amplitude and better phase margin than PSC around fundamental frequency, while Type I based HSC has larger amplitude and less phase margin than PSC. Type II based HSC can improve the stability and Type I based HSC can worsen the stability compared with PSC. Realtime experiments are carried out to verify this.

Application of Feedforward Cascade Compound Control Based on Improved Predictive Functional Control in Heat Exchanger Outlet Temperature System

Aiming at the problems of large delay and poor anti-disturbance ability in the outlet temperature control system of the heat exchanger to optimize the control accuracy of the system and improve the control performance, this paper proposes a control scheme combining predictive functional control with proportional-integral-derivative control. Using the incremental proportional-integral-derivative control algorithm to improve the optimization objective function of the predictive functional control algorithm, a predictive functional control optimization model with a proportional-integral-derivative structure is established. The feedforward compensation control is adopted to eliminate the influence of external disturbances on the heat exchanger temperature control system. Through simulation, the proposed control scheme is compared with the feedforward cascade compound control scheme based on a proportional-integral-derivative main controller. The results show that the scheme has a small over harmonic and strong anti-interference ability. The adaptability and stability of the system are significantly improved, and the exit temperature of the heat exchanger can be effectively controlled.

An intelligent integrated EDI module based on fuzzy PID

Electrodeionization (EDI) is a popular method of water treatment in the current field of water treatment. EDI module mainly absorbs the charged ions in water through the cation exchange resin and realizes the ion removal of water by applying an electric field to make the charged ions move in a directional way and pass through the cation exchange membrane with selective permeability. The existing EDI module has a low integration degree and the working current cannot be adjusted intelligently according to the field environment. In order to solve the problem of low integration degree, this paper designs an EDI module that integrates the EDI module, sensor, controllable constant current source module, and main controller. Meanwhile, in order to solve the problem that the current EDI working current cannot be adjusted in real-time with the environmental water quality, an EDI module output current control method based on fuzzy PID and a main controller hardware circuit based on the adjustable constant current source circuit of a microcontroller digital-to-analog converter (DAC) are designed to adjust the output current of EDI module intelligently. Then the control model of the control system is established by Matlab respectively using the PID control method and fuzzy PID control method, and the simulation is compared. In this paper, the hardware and software of the module are developed based on STM32. The experimental results show that the designed EDI module can realize accurate and fast control of water quality.

Intelligent vibration control for ultra-high-speed elevators: A type 2 variable universe fuzzy neural network method with input saturation

When elevators accelerate to ultra-high speed, the horizontal vibration suppression is significantly challenged by the complex coupled excitation and uncertain time-varying parameters. Therefore, this paper proposes an intelligent control method with type 2 variable universe fuzzy neural network considering input saturation. Firstly, considering the multilevel relationship of the guide rails, guide shoes, frame and car, a horizontal vibration dynamic model is constructed. To improve the tolerance and adaptability of the control system to the uncertain parameters, the type 2 variable universe fuzzy control is used as the main controller. The discourse of universe is adjusted by the T-S fuzzy neural network, and the anti-saturation controller is designed to compensate for the over-saturation problem aggravated by the networks. The non-parametric inverse model of intelligent adjustable dampers represented by the magnetorheological damper is constructed to accurately calculate the ideal output damping force. The effectiveness of the proposed control method is verified by the elevator experimental data and the bidirectional gas-solid coupling aerodynamic excitation. The results show that the proposed intelligent control method can significantly improve the mean values, peak values and comfort indexes of the horizontal vibration acceleration and tilt angle acceleration of the elevator car. The research provides a new intelligent control scheme for high-speed/ultra-high-speed elevators and other similar vibration suppression systems.

Smart mobile robot fleet management based on hierarchical multi-agent deep Q network towards intelligent manufacturing

With the advent of intelligent manufacturing era, smart mobile robots have taken the major roles on transporting materials through intelligent dynamic production environment. It is paramount to efficiently manage the mobile robot fleet to complete the material transportation task so as to facilitate the smooth production in the workshop. However, many mobile robot fleet management systems adopt centralized control where the interaction between mobile robots and other resources cannot be updated promptly, and the in-time dynamic environment variance cannot be considered. To cope with the unexpected real-time change of the system, reinforcement learning (RL) method is suggested to handle the problem. To overcome the sparse reward problem of RL, we propose a hierarchical multi-agent deep Q network (HMDQN) algorithm of a two-layer structure, in which the goal layer is controlled by a main controller for selecting a current goal and the sub controller from action layer is for coordinating multi-agent controlled smart mobile robots. The main controller is aimed at learning how to determine the current goal based on the order status and production states. Simultaneously, the sub controller is learning to seek an optimal way that the smart mobile robot fleet jointly executes the transportation tasks through the information exchange between robot agent and production environment under the current goal. A smart mobile robot fleet management case in a PCBA company is studied to validate the feasibility of our approach. In addition, we utilized alternative methods to solve the same problem and compared the performance to prove our approach’s superiority. Furthermore, we demonstrated the adaptability of the proposed method by changing the problem scales.

Developing a Portable Spectrometer to Detect Chemical Contaminants in Irrigation Water

Water pollution is a critical issue since it can severely affect health and the environment. The purpose of the study is to develop a portable spectrometer (ESP32-based spectrometer) to detect chemical contaminants in irrigation water by observing the light absorbance of contaminants. ESP32 and a light sensor (photodiode) were respectively, used as the main controller and detector of the portable spectrometer. It was developed based on optical dispersion and Beer–Lambert law theory. The light absorbance of different types of contaminants was displayed in a Blynk application for real-time monitoring. The samples were also tested using a lab-based spectroscopy method, ultraviolet-visible (UV-Vis) spectrometer. The spectral range of the measurement is from 350 nm to 700 nm and the standard error of the ESP32-based spectrometer is from 0.01 to 0.05. Five water samples were tested, consisting of ammonium nitrate, organic pesticide, zinc oxide and two different reservoirs used for irrigation. The absorption peaks of the ammonium nitrate and organic pesticide are 363 nm and 361 nm, respectively. Zinc oxide shows the absorbance peak at 405 nm, whereas both reservoirs show absorbance peaks lie in the region from 300 nm to 370 nm. Therefore, this study shows that different types of contaminants can absorb light only at specific wavelength regions by considering the concentration of samples. The developed ESP32-based spectrometer can be applied for on-site water quality monitoring as it is portable, light, simple and can be monitored in real time using multiple devices.