The Ph.D. thesis is focused on using the fuzzy logic for control of a parallel manipulator based on a Stewart platform. The proposed mechanism makes possible to simulate the physiological movements of the human body and observe degradation processes of the cord implants. Parallel manipulators such as a Stewart platform represent a completely parallel kinematic mechanism that has major differences from typical serial link robots. However, they have some drawbacks of relatively small workspace and difficult forward kinematic problems. Generally, forward kinematic of a parallel manipulators is very complicated and difficult to solve. This thesis presents a simple and efficient approach to design simulation model of forward kinematic based on Takagi-Sugeno type fuzzy inference system. The control system of the parallel manipulator id based on state-space and fuzzy logic controllers. The proposed fuzzy controller uses a Sugeno type fuzzy inference system (FIS) which is derived from discrete position state-space controller with an input integrator. The controller design method is based on anfis (adaptive neuro-fuzzy inference system) training routine. It utilizes a combination of the least-squares method and the backpropagation gradient descent method for training FIS membership function parameters to emulate a given training data set. The proposed fuzzy logic controllers are used for the control of a linear actuator. The capabilities of the designed control system are shown on verification experiment.

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Yes / Polymer extrusion, in which a polymer is melted and conveyed to a mould or die, forms the basis of most polymer processing techniques. Extruders frequently run at non-optimised conditions and can account for 15-20% of overall process energy losses. In times of increasing energy efficiency such losses are a major concern for the industry. Product quality, which depends on the homogeneity and stability of the melt flow which in turn depends on melt temperature and screw speed, is also an issue of concern of processors. Gear pumps can be used to improve the stability of the production line, but the cost is usually high. Likewise it is possible to introduce energy meters but they also add to the capital cost of the machine. Advanced control incorporating soft sensing capabilities offers opportunities to this industry to improve both quality and energy efficiency. Due to strong correlations between the critical variables, such as the melt temperature and melt pressure, traditional decentralized PID (Proportional-Integral-Derivative) control is incapable of handling such processes if stricter product specifications are imposed or the material is changed from one batch to another. In this paper, new real-time energy monitoring methods have been introduced without the need to install power meters or develop data-driven models. The effects of process settings on energy efficiency and melt quality are then studied based on developed monitoring methods. Process variables include barrel heating temperature, water cooling temperature, and screw speed. Finally, a fuzzy logic controller is developed for a single screw extruder to achieve high melt quality. The resultant performance of the developed controller has shown it to be a satisfactory alternative to the expensive gear pump. Energy efficiency of the extruder can further be achieved by optimising the temperature settings. Experimental results from open-loop control and fuzzy control on a Killion 25 mm single screw extruder are presented to confirm the efficacy of the proposed approach. (C) 2013 Elsevier Ltd. All rights reserved.

As we all know the classical set theory has a deep-rooted influence in the traditional mathematics. According to the two-valued logic, an element can belong to a set or cannot. In the former case, the element’s membership degree will be assigned to one, whereas in the latter case it takes the zero value. With other words, a feeling of imprecision or fuzziness in the two-valued logic does not exist. With the rapid development of science and technology, more and more scientists have gradually come to realize the vital importance of the multi-valued logic. Thus, in 1965, Professor Lotfi A. Zadeh from Berkeley University put forward the concept of a fuzzy set. In less than 60 years, people became more and more familiar with fuzzy set theory. The theory of fuzzy sets has been turned to be a favor applied to many fields. The study aims to apply some classical and extensional methods of fuzzy set theory in life expectancy and treatment prognoses for cancer patients. The research is based on real-life problems encountered in clinical works by physicians. From the introductory items of the fuzzy set theory to the medical applications, a collection of detailed analysis of fuzzy set theory and its extensions are presented in the thesis. Concretely speaking, the Mamdani fuzzy control systems and the Sugeno controller have been applied to predict the survival length of gastric cancer patients. In order to keep the gastric cancer patients, already examined, away from the unnecessary suffering from surgical operation, the fuzzy c-means clustering analysis has been adopted to investigate the possibilities for operation contra to nonoperation. Furthermore, the approach of point set approximation has been adopted to estimate the operation possibilities against to nonoperation for an arbitrary gastric cancer patient. In addition, in the domain of multi-expert decision-making, the probabilistic model, the model of 2-tuple linguistic representations and the hesitant fuzzy linguistic term sets (HFLTS) have been utilized to select the most consensual treatment scheme(s) for two separate prostate cancer patients. The obtained results have supplied the physicians with reliable and helpful information. Therefore, the research work can be seen as the mathematical complements to the physicians’ queries.

A produção de energia elétrica por fontes de geração distribuída (GD) vem se tornando cada vez mais presente no sistema elétrico de potência. De modo geral, os sistemas de GD conectados à rede de distribuição operam controlando potências ativa e reativa, enquanto que no modo isolado, a frequência e a tensão. Sendo assim, após a ocorrência de um ilhamento deve haver alteração no modo de operação da GD para garantir a estabilidade da frequência e da tensão no subsistema ilhado. Ainda, se o modo de operação não for alterado após o ilhamento, os dispositivos de proteção podem atuar desligando a GD. Portanto, o tempo decorrido até a alteração do modo de operação desempenha um papel importante na indicação se a GD permanecerá ou não em funcionamento após a ocorrência do ilhamento. Neste trabalho, são determinados os tempos máximos para chaveamento dos modos de operação de um grupo motor gerador diesel (GMG) operando como GD, utilizando controladores clássicos (CCs) e controladores fuzzy (CFs). Foram analisadas as influências do desbalanço entre as potências geradas e consumidas, do tipo de carga conectada ao subsistema ilhado e do comprimento do alimentador nos tempos máximos. Para evidenciar possíveis vantagens da estratégia de controle não linear, é utilizada uma metodologia na qual o ajuste dos ganhos dos CFs é realizado a partir dos ajustes de referência dos CCs. Devido ao ganho variável que a estratégia não linear adiciona às ações de controle, a utilização de CFs nas malhas do GMG permitiu maiores tempos de chaveamento para determinadas faixas de operação, quando comparado com a utilização de CCs. / Distributed generation (DG) is becoming more present in the electrical power system. In general, when a DG is connected to the grid, the DG works with the active and reactive power control loops. Therefore, after an islanding occurrence, the DG must change the operation control mode from power control to voltage and frequency control to maintain the system stability. If the operation mode is not changed after islanding, the protective devices are sensitized and the DG is disconnected. Therefore, the time elapsed until the operation mode changes has an important role in the indication if the DG remains in operation or not after islanding. In this work, the maximum times for switching the operating control mode of a diesel generator set, working as a DG, are analysed using a classical control strategy (CC) and a fuzzy control strategy (FC). The influence of the power imbalance, load types and the feeder distance on the maximum available time to switch the operation control mode is investigated. To highlight the advantages of a nonlinear control strategy, is used a methodology in which the tuning of the FCs gains is performed from the CCs which are used as reference. Due to the variable gain added by the nonlinear strategy, the FC allowed higher switching times than the CC.

Σήμερα η ανάγκη για δημιουργία ποιοτικών και φθίνων και ανταγωνιστικών βιομηχανικών προϊόντων έχει σαν αποτέλεσμα να χρειαζόμαστε αυτοματισμούς και αυτόματο έλεγχο ηλεκτρικών μηχανών με μεγάλη ακρίβεια και αδιάλειπτη λειτουργία απο διαταραχές του περιβάλλοντος . Επιπλέον το ενεργειακό πρόβλημα που είναι από τα σπουδαιότερα προβλήματα του πλανήτη και του ανθρώπου σήμερα οδηγούν στην ανάγκη ελαχιστοποίησης των ενεργειακών απωλειών με αποτέλεσμα συνήθως να επιθυμούμε λειτουργία των ηλεκτρομηχανικών συστημάτων με μηδενική κατανάλωση/ παραγωγή άεργου ισχύος . Η Ηλεκτρική μηχανή συνεχούς ρεύματος με διέγερση σε σειρά χρησιμοποιείται λόγω των ιδιαίτερων χαρακτηριστικών της σε πολλές εφαρμογές που χρειάζονται υψηλή ροπή εκκίνησης όπως ανυψωτικά μηχανήματα, σιδηροδρομικά οχήματα. Οι ανορθωτές με ελεγχόμενη έναυση αλλά και σβέση κατά PWM προτιμούνται έναντι των διόδων και των θυρίστορς γιατί μας δίνουν περισσότερες δυνατότητες ελέγχου . Η Μοντελοποίηση , σχεδιασμός συστήματος ελέγχου, ευστάθειας του συστήματος για την μηχανή συνεχούς ρεύματος οδηγούμενης από τριφασικό ανορθωτή ερευνάται. Γίνεται εξαγωγή του μοντέλου, στο τριφασικό σύστημα και στο πλαίσιο park, με βάση την δυναμική ανάλυση Εuler -Lagrange . Για την εξαγωγή του μοντέλου γίνεται ακόμα χρήση του Averaging Analysis . Ανάλυση που βασίζεται στην παθητικότητα μάς δείχνει ότι το σύστημα είναι ευσταθές πεπερασμένης εισόδου-πεπερασμένης κατάστασης. Οι ελεγκτές που αναπτύσσονται σε αυτή τη εργασία είναι ο ασαφής ελεγκτής, ο νευροασαφής που χρησιμοποιούνται ευρέως σε μη γραμμικά συστήματα στην βιομηχανία, ο PI σειριακός (cascade) ελεγκτής που συνηθίζεται στις ηλεκτρικές μηχανές. Τέλος επιχειρείται ο σχεδιασμός ενός PI ελεγκτή με υπολογισμό κερδών από νευροασαφή εκτιμητή. Ο ασαφής ελεγκτής σχεδιάζεται με πρόβλεψη σφάλματος και επιτυγχάνει πολύ καλή ρύθμιση των στροφών και καλό έλεγχο στης αέργου ισχύος, εξομοιώσεις επιβεβαιώνουν την απόδοση του ελεγκτή. Ομοίως ισχύουν για τον νευροασαφή ελεγκτή με το πλεονέκτημα μικρότερου υπολογιστικού χρόνου αλλά μειονεκτεί μεγαλύτερης εμφάνισης ενός μόνιμου σφάλματος. Ο PI σειριακός (cascade) επιτυγχάνει άριστη ρύθμιση αέργου ισχύος και καλή ρύθμιση στροφών ενώ ο PI casacde- Anfis μας δίνει ελαφριά καλύτερα αποτελέσματα αλλά αφήνει αρκετές δυνατότητες για περαιτέρω σχεδιασμό και έρευνα. Επίσης γίνεται κάποια ανάλυση για εξαγωγή συμπερασμάτων ευστάθειας και σύγκλισης για τα σύστημα κλειστού βρόχου. Τα αποτελέσματα τα επιβεβαιώνουμε και τα συγκρίνουμε μέσω εξομοιώσεων. / Nowadays , the demand for precise control in industrial applications require the design and development of advanced controllers. Also the energy problem which is one of the most important global problems lead to the need of high energy efficient systems. In industrial applications in most cases ,due to the energy problem , we desire operation with unity power factor. The dc series connected motor is preferred in many application such as railway and levitating systems due to its high starting torque. We choose the 3 -phase pulse width modulation rectifier because of its many capabilities comparison with thyristor rectifiers. Modeling, control design and stability analysis of series connected dc motor fed by three-phase PWM ac/dc voltage converter are investigated. The designed controllers are fuzzy , neuro fuzzy, PI cascade and Anfis- pi cascade controller. The model is obtained via Euler -Lagrange dynamic analysis. Also we used the averaging analysis in order to determine the dynamic model of the system in a-b-c frame and d-q park's frame. We prove the ISS stability of the open loop system based on passivity analysis. The fuzzy use a predictive logic based on the acceleration of the motor, we result excellent precise control of angular velocity and a satisfied control of reactive power. Neuro Fuzzy controller has the same effectiveness with less computational effort but has a possibility to occur a small permanent error in angular velocity. PI cascade controller has as a result a excellent response at reactive power and good response in angular velocity with more less computational effort. ANFIS -PI cascade controller have a bit better results from PI-cascade controllers but it leaves hopes for more optimum designs in feature. Furthermore there are some stability and convergence analysis for the closed loop system. Simulation results verify the effectiveness of each controller for comparison.

Σκοπός της παρούσας διπλωματικής είναι ο έλεγχος ενός ανάστροφου εκκρεμούς φορτίου πλατφόρμας-σφαίρας (cart-ball) με χρήση ασαφούς ελέγχου ο οποίος υλοποιείται σε ηλεκτρονικό υπολογιστή στο περιβάλλον προγραμματισμού National Instruments LabVIEW 2009. Το φυσικό σύστημα αποτελείται από μία μεταλλική πλατφόρμα σταθερά προσδεδεμένη σε ένα γραμμικό άξονα της εταιρίας FESTO. Για την κίνηση του άξονα χρησιμοποιείται τριφασικός ηλεκτρικός σερβοκινητήρας, επίσης της FESTO, ο έλεγχος του οποίου γίνεται με χρήση ειδικού προγραμματιζόμενου ελεγκτή της ίδιας εταιρίας. Πάνω στην μεταλλική πλατφόρμα έχει τοποθετηθεί μία αψίδα παράλληλη στη διεύθυνση κίνησης της πλατφόρμας. Πάνω στην αψίδα έχουν δημιουργηθεί δύο οδηγοί επικαλυμμένοι με σκόνη γραφίτη σε μορφή κόλλας, η οποία τους κάνει ηλεκτρικά αγώγιμους. Ο ένας από τους οδηγούς έχει τάση 10V στα άκρα του ενώ το ένα άκρο του άλλου αγωγού είναι γειωμένο. Στόχος του αυτομάτου ελέγχου είναι να ισορροπήσει πάνω στην αψίδα μία μεταλλική σφαίρα. Η μεταλλική σφαίρα βραχυκυκλώνει τους δύο αγώγιμους οδηγούς και κατ' αυτό τον τρόπο, με την αρχή του ροοστάτη, λαμβάνεται η θέση της σφαίρας. Η μέτρηση της τιμής της θέσης της σφαίρας όπως και η θέση και η ταχύτητα της πλατφόρμας, οι οποίες λαμβάνονται από τον ελεγκτή του κινητήρα, εισάγονται στον υπολογιστή, μέσω ειδικής κάρτας Εισόδου/Εξόδου (Ε/Ε) της εταιρίας National Instruments, όπου λαμβάνονται από το LabVIEW και οδηγούνται στον ασαφή ελεγκτή που υλοποιείται στο ίδιο πρόγραμμα. Η ταχύτητα της σφαίρας λαμβάνεται επίσης υπ' όψιν στον αυτόματο έλεγχο και προκύπτει στο LabVIEW από παραγώγιση της θέσης της σφαίρας. Το ασαφές σύστημα αποτελείται από πέντε συναρτήσεις συμμετοχής για τη μεταβλητή της θέσης, τρεις συναρτήσεις συμμετοχής για τη μεταβλητή της ταχύτητας και εφτά συναρτήσεις συμμετοχής για την έξοδο του ελεγκτή που εκφράζει την επιθυμητή ταχύτητα της πλατφόρμας. Ο συμπερασμός γίνεται με χρήση 22 κανόνων. Η έξοδος του ασαφούς ελεγκτή εκφράζεται με μια τιμή από -10V έως +10V. Η έξοδος από τον ασαφή ελεγκτή οδηγείται πάλι μέσω της ειδικής κάρτας Ε/Ε στον προγραμματιζόμενο ελεγκτή του κινητήρα της FESTO ο οποίος ελέγχει κατάλληλα το ρεύμα τυλίγματος του κινητήρα ώστε να επιτευχθεί η επιθυμητή ταχύτητα. Η περίοδος του ελέγχου είναι 100 ms. Τα αποτελέσματα του ελέγχου του πιο πάνω συστήματος κρίνονται γενικά ικανοποιητικά δεδομένης της ισχυρής αστάθειας που το χαρακτηρίζει. / The subject of the thesis is the automatic control of an inverted pendulum consisting of a cart and a ball. We used fuzzy control to balance the ball on top of an arch. The controller was created in LabView 2009.

Emocijų atpažinimas, tiriant žmogaus fiziologinius parametrus, yra labai aktualus šiuolaikinės informatikos mokslo uždavinys. Šio darbo siekis yra suprojektuoti emocijų atpažinimo sistemos prototipą, kurį su minimaliais kaštais galima būtų pritaikyti įvairiose emocijomis grindžiamose sistemose. Pateikiamas tokios sistemos koncepcinis modelis, susidedantis iš aparatūrinės įrangos ir programinio modelių. Fiziologinių signalų stiprinimui naudojami AD620 ir OP97 operaciniai stiprintuvai. Analoginio signalo keitimas ir perdavimas į kompiuterį atliekamas naudojant Atmega16 mikrovaldiklį. Schemų testavimui naudojamas kompiuterinis oscilografas (PCS500). Atliekamas skaitmeninio signalo filtravimo metodų tyrimas. Pristatomi fiziologinių parametrų fiksavimo metodų (EKG, SC) atpažinimo algoritmai, pagrįsti SVW algoritmu. Atliekama HRV spektrinė analizė į dažninę sritį, naudojant Furjė transformacijas. Pateikiama praplėsta neraiškioji valdymo sistema, kuri iš fiziologinių parametrų (HR, HRVL, HRVH, SCR, STpirštas, STgalva) išveda susijaudinimo–valentingumo laipsnius. Pagal šiuos laipsnius išvedamos emocijos. Aptariami sukurtų algoritmų, realizuojant juos realioje aplinkoje, nauji elgsenos charakteristikų ypatumai. / Very important task of modern computer science is emotion recognition by human physiological parameters. The purpose of this work is to design a prototype of emotion recognition system, which could be possible customize in various emotions systems with minimal costs. There is representing such system conceptual model, which consists from them realization hardware and programme models. For amplifying the physiological signals is using instrumental AD620 and high precision OP97 operations amplifiers. Analogical signal converting to digital and transmitting to the computer redundant by Atmega16 microcontroller. For electrical schemas testing is using oscillograph (PCS500) connected on the computer. It is redundant analysis for digital signal filtering methods. There is presenting the recognition algorithms, based on SVW algorithm, for physiological parameters fixing methods (ECG, SC). For HRV spectral analyze in frequency domain it is using Furies transformations. There is extended fuzzy control system, which deduces arousal–valence levels from physiological parameters (HR, HRVL, HRVH, SCR, STfinger, SThead). By theses levels is deduces emotions. The new characteristical singularities of designed algorithms in real environment are also discussed.

Esta tese propõe uma estratégia de controle fuzzy para um grupo motor gerador a diesel como uma fonte de geração distribuída, cobrindo a parte mecânica do sistema que é composta por controle de velocidade e de potência ativa, a parte elétrica do sistema composta por controle de tensão e potência reativa, e também o controle de sincronismo com a rede de distribuição. A estratégia de controle foi baseada em lógica fuzzy que usou uma superfície de controle fixa para os controladores fuzzy. Foram investigados os distúrbios causados pelo efeito de conexão com a rede e da conexão de um motor de indução, um retificador não controlado e uma carga RLC. Resultados de simulação para fluxo de potência no modo conectado foram obtidos usando um alimentador padrão IEEE -1547. Os resultados de simulação obtidos para os modos isolado e conectado usando o controlador fuzzy foram superiores comparados aos resultados obtidos com um controlador comercial. Uma bancada experimental também foi usada para analisar a resposta do sistema no modo isolado com o controlador fuzzy proposto e com o controlador comercial para fins de comparação. Nesse contexto, espera-se com este trabalho contribuir para o desenvolvimento de pesquisas na área de controle e processamento de energia, uma vez que, soluções para a produção de energia utilizando a geração distribuída têm importância estratégica e têm sido foco de investimento e discussões por parte de governos, empresas e universidades. / This thesis proposes a control strategy for a diesel generating set as a distributed generation source covering the mechanical part of the system which includes speed and active power control, the electrical part of the system which includes voltage and reactive power control, and also the synchronism control with the grid. The control strategy was based on a fuzzy logic which used a fixed controller surface for the fuzzy controllers. The effect of the disturbances caused by the grid connection and the disturbances caused by the activation of a induction motor, non controled rectifier and a RLC load types were investigated. Power flow simulation results for the grid-connected mode was obtained with a IEEE -1547 standard feeder. The simulations results for both stand-alone and gridconnected operations using fuzzy controllers were superior when compared to commercial methods. An experimental setup was also used to analyze the system responses under isolated mode with the proposed fuzzy controller and with the commercial controllers for comparison proposes. In this context, it is expected that this work contributes to the development of control and energy processing research area, since solutions for energy production using distributed generation have strategic importance and have been the focus of investment and discussions from governments, companies and universities.

Ce mémoire est consacré à la mise en œuvre de commandes d'un train de véhicules intelligents sur autoroute ayant pour objectifs principaux de réduire la congestion et d’améliorer la sécurité routière. Après avoir présenté l'état de l'art sur des systèmes de conduite automatisée, des modèles de la dynamique longitudinale et latérale du véhicule sont présentés. Ensuite, des stratégies de contrôle longitudinal et latéral sont étudiées.D'abord, le contrôle longitudinal est conçu pour être hiérarchique avec un contrôleur de niveau supérieur et un contrôleur de niveau inférieur. Pour celui de niveau supérieur, une régulation d'inter-distance SSP (Safety Spacing Policy) est proposée. Nous avons constaté que la SSP peut assurer la stabilité de la chaîne et la stabilité des flux de trafic et augmenter ainsi la capacité de trafic. Puis, pour celui de niveau inférieur, une loi de commande floue coordonnée est proposée pour gérer l'accélérateur et le freinage. Ensuite, une loi de commande multi-modèle floue est conçue pour le contrôle latéral. De plus, pour réaliser des transformations lisses entre les différentes opérations latérales, une architecture de contrôle hiérarchique est proposée. Puis, l'intégration des commandes longitudinale et latérale est étudiée. Enfin, l'estimation des variables d’états du véhicule est discutée. Un filtre de Kalman-Bucy est conçu pour estimer les états du véhicule. En outre, un prototype de véhicule intelligent à échelle réduite est également présenté. Les performances des divers algorithmes de commande proposés ont été testées par simulations, et les résultats ont été confirmés par les premières expériences en utilisant le prototype / This PhD thesis is dedicated to the control strategies for intelligent vehicle platoon in highway with the main aims of alleviating traffic congestion and improving traffic safety. After a review of the different existing automated driving systems, the vehicle longitudinal and lateral dynamic models are derived. Then, the longitudinal control and lateral control strategies are studied respectively. At first, the longitudinal control system is designed to be hierarchical with an upper level controller and a lower level controller. For the upper level controller, a safety spacing policy (SSP) is proposed. It is shown that the proposed SSP can ensure string stability, traffic flow stability and improve traffic capacity. Then, a coordinated throttle and brake fuzzy controller (lower level controller) is designed, in which a logic switch is designed to coordinate the two actuators (throttle and brake pedals). Second, for the lateral control, a multi-model fuzzy controller is designed. And a hierarchical lateral control architecture is also proposed, which can effectuate flexible switch between different lateral operations. After that, the integration of the longitudinal controller and lateral controller is also studied. Finally, the estimation of vehicle states is discussed. A Kalman-Bucy filter is designed to estimate vehicle states in lateral dynamics. Moreover, a reduced scale multi-sensor intelligent vehicle prototype is also presented. The performances of the divers control algorithms proposed in this thesis have been tested in numerical simulations, and the first step experiments with the reduced scale vehicle prototype gave encouraging results