{"title":"Transparent fuzzy bilateral control of a nonlinear teleoperation system through state convergence","authors":"U. Farooq, J. Gu, M. El-Hawary, M. Asad, F. Rafiq","doi":"10.1109/ICET.2016.7813242","DOIUrl":"https://doi.org/10.1109/ICET.2016.7813242","url":null,"abstract":"This paper presents the design of a transparent fuzzy bilateral controller for a nonlinear teleoperation system which has been approximated by a class of Takagi-Sugeno (TS) fuzzy models. After the approximation stage, TS fuzzy control laws are introduced for the master and slave robotic systems. These laws further help in developing the design conditions using the state convergence methodology. The control gains are then found as a solution of these design conditions for achieving the bilateral teleoperation. MATLAB simulations on one degree-of-freedom (DoF) nonlinear teleoperation system validate the proposed fuzzy bilateral control scheme.","PeriodicalId":285090,"journal":{"name":"2016 International Conference on Emerging Technologies (ICET)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121325822","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Umair Iqbal, Syed Irtiza Ali Shah, Muhammad Salman Sadiq
{"title":"Servo actuated payload carry and drop mechanism for unmanned helicopter","authors":"Umair Iqbal, Syed Irtiza Ali Shah, Muhammad Salman Sadiq","doi":"10.1109/ICET.2016.7813221","DOIUrl":"https://doi.org/10.1109/ICET.2016.7813221","url":null,"abstract":"Unmanned Aerial Vehicles (UAVs) are more often used now a days for the civilian purposes such as surveillance, surveying, monitoring, and transportation. Unmanned helicopter systems has been used more often for the disaster surveying and monitoring. In order to provide the facility of carrying and dropping the payload from the helicopter, this paper presents a servo actuated payload drop mechanism design for the unmanned disaster relief helicopter. The proposed payload drop mechanism is operated with two servo motors and uses metallic gears based mechanism to carry and drop the payload of up to 9kg. SolidWorks Virtual Computer Aided Design (CAD) platform has been used for the modelling and drop test simulations of proposed mechanism. The proposed mechanism has been designed specifically for the CopterWorks helicopter platform and can be utilized in civilian operations for the carrying and dropping the payload of up to 9kg.","PeriodicalId":285090,"journal":{"name":"2016 International Conference on Emerging Technologies (ICET)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115537018","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Full scope simulation of dry spent fuel storage cask using computational fluid dynamics","authors":"H. Hayat, Intsar-ul-haq","doi":"10.1109/ICET.2016.7813218","DOIUrl":"https://doi.org/10.1109/ICET.2016.7813218","url":null,"abstract":"A computational fluid dynamics (CFD) analysis of small scale model of TN24P cask was performed by a full scope simulation using computer code ANSYS CFX. The objective of developing small scale model is to understand the sensitivities of various parameters and to establish the analysis methodology to minimize the computational load. Another objective of analysis is to predict the accurate peak clad temperature (PCT). The sensitivity study predicts the efficient heat transfer by avoiding porous media approach during full scope simulation and also predicts the solution independent of grid sizes variation, change of discretization scheme and level of precisions. The variations in temperature results are same when compared with another CFD based code FLUENT. Peak clad temperature (PCT) is found in the permissible range (PCT <;400 °C) defined in sensitivity study. In present study, calculated peak clad temperature is 263.9 °C while the predicted peak clad temperature by using FLUENT code is 263.7 °C. Percentage error in solutions by using two different codes is less than 0.5%. CFD analysis of spent fuel storage cask is performed to validate and compare results with performed analysis using computer code COBRA-SFS.","PeriodicalId":285090,"journal":{"name":"2016 International Conference on Emerging Technologies (ICET)","volume":"218 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116226777","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"A Park's vector approach using process monitoring statistics of principal component analysis for machine fault detection","authors":"Armughan Hameed, S. T. Gul, Abdul Qayyum Khan","doi":"10.1109/ICET.2016.7813263","DOIUrl":"https://doi.org/10.1109/ICET.2016.7813263","url":null,"abstract":"To ensure reliable operation of electric motors, various types of condition monitoring techniques are employed. Among them Electrical Signature Analysis (ESA) is a well-established technique for fault detection. ESA mainly consists of motor current signature analysis, instantaneous power signature analysis and extended Park's vector approach. While these techniques are very effective for fault detection but they require monitoring of frequency spectrum resulting in high number of computations. On the other hand, Park's vector approach (PVA) can detect faults without monitoring frequency spectrum providing high computational efficiency. For fault detection, principal component analysis (PCA) is often used in PVA to check deviation in circularity of Park's vector Lissajous curve by calculating principal values. While in this paper, PCA model based process monitoring statistics are utilized for detection of faults. In this way, PCA is only used for an initial model construction and then monitoring statistics are employed to check any deviation from the reference model. The validity of this technique is established by simulations carried out on three phase synchronous machine data. Our simulation results show that the inclusion of process monitoring statistics significantly improve the computational performance.","PeriodicalId":285090,"journal":{"name":"2016 International Conference on Emerging Technologies (ICET)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125640493","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Welding sequence optimization for the fabrication of Box Girder","authors":"M. Faiq, Rizwan Alim Mufti","doi":"10.1109/ICET.2016.7813277","DOIUrl":"https://doi.org/10.1109/ICET.2016.7813277","url":null,"abstract":"Weld induced stresses and distortions are perilous problems owing to reduce weldment's life and performance. Adequate welding sequence assists in reducing distortions and residual stresses in this respect. This research analyzes different welding sequences adopted for the welding of Box Girder plates. FEA of Final four fillet welds on a mockup of Box girder (125 mm width, 216 mm height and 100 mm span) was performed for distortions using Ansys software. Goldak's Model was utilized for thermal analysis and these results were retrieved as nodal loads in structural analysis. Temperature dependent thermal and mechanical properties were incorporated in respective simulations. Effect of changing the weld sequence is briefly explained and the optimum sequence is announced. The proposed solution will be helpful to have minimum distorted shape of Box Girder.","PeriodicalId":285090,"journal":{"name":"2016 International Conference on Emerging Technologies (ICET)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128070045","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
M. Y. Javed, M. Gulzar, Syed Tahir Hussain Rizvi, Arslan Arif
{"title":"A hybrid technique to harvest maximum power from PV systems under partial shading conditions","authors":"M. Y. Javed, M. Gulzar, Syed Tahir Hussain Rizvi, Arslan Arif","doi":"10.1109/ICET.2016.7813203","DOIUrl":"https://doi.org/10.1109/ICET.2016.7813203","url":null,"abstract":"Maximum Power Point Tracking (MPPT) under partial shading condition is the main issue in Photovoltaic (PV) system. This research work is based on a hybrid mechanism for MPPT problem by utilizing two commonly used techniques. The whole algorithm is divided into two stages. Initially it uses Fractional Open Circuit Voltage (FOCV) technique in order to detect Global Maxima (GM) region. Once the GM region is achieved the variable step sized incremental conductance technique can easily detect the Maximum Power Point (MPP). The proposed technique is fast, accurate and simple to implement. This algorithm is implemented and tested using MATLAB/Simulink and the robustness of this algorithm is verified by testing this algorithm under different partial shading conditions. Finally the superiority of this algorithm is judged by comparing this algorithm with other MPPT algorithms.","PeriodicalId":285090,"journal":{"name":"2016 International Conference on Emerging Technologies (ICET)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127125500","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Thermodynamic modeling and optimization of double effect series flow LiBr-H2O vapor absorption chiller","authors":"M. Ghani, M. Zaman, Imran Khan","doi":"10.1109/ICET.2016.7813266","DOIUrl":"https://doi.org/10.1109/ICET.2016.7813266","url":null,"abstract":"Absorption chillers are the devices that required low grade thermal energy for instance waste heat of plant or renewable energy resources such as geothermal, solar etc. As absorption systems operate over lower coefficient of performance (COP) ranges therefore it is necessary to optimize the performance of these system. In this work, second law analysis and optimization of double effect series flow absorption chiller has been performed to improve its COP and energy efficiency. The dependence of these performance parameters on temperature of components has been assessed. Solution of the optimization problem using MATLAB has optimized the operating conditions which led to improvement COP nearly 10.25% and energy efficiency by 38.5%.","PeriodicalId":285090,"journal":{"name":"2016 International Conference on Emerging Technologies (ICET)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131715120","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"VerTGen: An automatic verilog testbench generator for generic circuits","authors":"Shahid Ali Murtza, O. Hasan, K. Saghar","doi":"10.1109/ICET.2016.7813256","DOIUrl":"https://doi.org/10.1109/ICET.2016.7813256","url":null,"abstract":"With the ever growing complexity of hardware designs, their functional verification has become quite a challenge. Despite other techniques like emulation and formal verification methods, simulation continues to be the most common and primary technique to functionally verify the hardware design written in Verilog. Due to the limited computational resources, exhaustive testing of the present-age complex hardware designs is not possible. This makes the selection of vectors very important. However, manual selection of test vectors has often resulted in biased testing and their is always a risk of missing some important corner case. Random testing may solve this problem but manual development of random test generation is a time consuming task. The main contribution of this paper is to facilitate the testbench development task as it presents an automatic random test bench generator tool, VerTGen, for Verilog models. VerTGen has a user friendly GUI and supports all the major probability distributions and can be used to create test benches for both combinational and sequential circuits. For illustration, the paper presents the test bench creation process of a shift register using VerTGen.","PeriodicalId":285090,"journal":{"name":"2016 International Conference on Emerging Technologies (ICET)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115089520","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Muhammad Naveed, S. Bashir, M. Bashir, M. H. Inayat
{"title":"Development of an inexpensive tensiometer for surface tension and contact angle measurements","authors":"Muhammad Naveed, S. Bashir, M. Bashir, M. H. Inayat","doi":"10.1109/ICET.2016.7813279","DOIUrl":"https://doi.org/10.1109/ICET.2016.7813279","url":null,"abstract":"In this paper we propose a low cost tensiometer that is easily reproducible with the requirement of minimal components and basic technical skills. It mainly uses a low cost Arduino microcontroller and a stepper motor to dispense the liquid. The calibration of the tensiometer was performed using the gravimetric method in order to test its accuracy and reliability. The tensiometer was mounted vertically in order to obtain a uniform shape of the droplet emerged from the tip of a blunt needle fitted at plastic (or glass) syringe which is suspended vertically under gravity. The droplet images were captured with CCD camera and analyzed in the image analysis software in order to calculate the drop shape factor which helps to evaluate the surface tension of the liquid using pendent drop method. The results were achieved within the range of 0.5–1 mN m−1 of literature values. Furthermore the sessile droplet method was used for measuring the water contact angle with the solid surface. The images were processed in the image analyzer software in order to measure the contact angle. It reveals that our laboratory made low cost tensiometer enable to measure the wetting properties and surface tension accurately. The accuracy of the instrument is found to be within the range of 1.0 percent in the determination of the surface tension of water.","PeriodicalId":285090,"journal":{"name":"2016 International Conference on Emerging Technologies (ICET)","volume":"133 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132695750","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Propagation behavior of super-Gaussian pulse in dispersive and nonlinear regimes of optical communication systems","authors":"Raza Ali, M. Y. Hamza","doi":"10.1109/ICET.2016.7813264","DOIUrl":"https://doi.org/10.1109/ICET.2016.7813264","url":null,"abstract":"In this work, the analysis of the group-velocity dispersion (GVD) effects alone as well as the interactive effects of dispersion and nonlinearity of single mode fiber on super Gaussian pulse for different pulse widths is presented, both in normal as well as anomalous dispersion regimes. Fiber attenuation, dispersive and nonlinear effects are analyzed. For this analysis, Split-step Fourier based numerical solution of nonlinear Schrodinger equation is used. Results exhibit that the peak power decreases for narrower pulse, i.e. fiber disperses the pulse more drastically for smaller values of the pulse width. From these results, even the compression of the pulse is observed as the value of steepness parameter of super-Gaussian pulse increases. Further, these investigations illustrate important findings that anomalous dispersion regime is better for the recovery of the pulse than normal regime of dispersion. These results are quite useful for deep understanding of optical fiber and to enhance the data rate in modern optical communication systems.","PeriodicalId":285090,"journal":{"name":"2016 International Conference on Emerging Technologies (ICET)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114366342","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}