A COMPARISON OF LYAPUNOV AND FUZZY APPROACHES TO TRACKING CONTROLLER DESIGN

There are numerous types of locomotion of mobile robots. Therein, the most widespread type of locomotion is motion using wheels. The task of robot is transport themselves from place to place. And tracking control is always an important problem to appply robots in practice. The robot has to reach the final goal by following a referenced trajectory. The paper proposes two methods based on the lyapunov stability standard and fuzzy law. Then, we simulate the algorithms to evaluate the results.

ANALYSIS OF A CANTILEVER COLUMN SUBJECTED TO CYCLIC LOADING

In a seismic incident, the structural steel columns are commonly damaged with local buckling formulation at either the top or bottom ends. This study analyzes and simulates the hysteretic behavior of a hollow square steel column under cyclic loading by adopting the fiber-element approach. This method discretizes the hinge zone into a series of fibers and considers buckling behavior of those fibers along the column wall. The analytical result was achieved in good agreement with the component test.

APPLICATION OF DISPLACEMENT ASSURANCE CRITERION USING DISPLACEMENT DATA FOR ASR-DETERIORATED GIRDER

This study focused on displacement data and proposed a displacement reliability evaluation index, DAC (Displacement Assurance Criterion), for assessing the overall rigidity of a structure. The DAC evaluation was applied to the results of the bending load tests of two prestressed concrete (PC) girders. One of the PC girders was affected by the alkali-silica reaction (ASR). In contrast, the other girder was kept at an inactive state by suppressing the ASR’s acceleration using fly ash concrete. The results show that the DAC index can express the difference between two displacement shapes with a single numerical value. Moreover, there is a correlation between the DAC index and the change in rigidity during the fracture process of each PC girder. Using the DAC value obtained by the loading test as a control value for displacement monitoring due to temperature change, DAC may be a method that can easily find abnormal values.

OPTIMIZATION OF COAGULATION-FLOCCULATION PROCESS FOR TREATMENT OF INDUSTRIAL TEXTILE WASTEWATER USING NOPAL CACTUS POWDER

Using natural coagulants derived from available and popular plants ensures the quality of wastewater discharged, saving costs for businesses, environmentally friendly. SEM results show that surface of the material is rough with the multi-layered structure that increases the contact areas, deep holes with undefined shapes on materials will increase diffusion and absorption of dirty residues of different sizes. To investigate the effectiveness of textile wastewater treatment by dried Nopal Cactus powder, the Jartest model was used to identify the best parameters for handling color levels and chemical oxygen demand (COD) treatment of artificial wastewater sources. Jartest experiment identified the best values for removing color levels and COD: pH = 3, dried Nopal Cactus powder amount of 100mg/L, stirring velocity of 40 rpm; stirring time of 10 minutes. The efficiency of processing color levels and COD with the best parameters are 87.85% and 60.21%, respectively. Regarding the efficiency of processing textile wastewater, there shows an average color reduction efficiency (52.89%), low-level COD treatment (25.56%). Optimal result: with dyeing textile wastewater sample, the input COD value is 260 mg/L, the color level is 470Pt-Co. The experiment with 36 test modes is run by STAGRAPHIC XV software and analyzed by ANOVA combination of 2 variables COD and color levels, the results with the highest performance for the color level and COD are 77.07% and 59.11% respectively. The optimal pH value is 2.6, the amount of dried Nopal Cactus powder is 80 mg/L, stirring velocity is 40.0 rpm, the time is 8.2 minutes

MINING OF HIGH-UTILITY ITEMSETS WITH NEGATIVE UTILITY

The goal of the high-utility itemset mining task is to discover combinations of items that yield high profits from transactional databases. HUIM is a useful tool for retail stores to analyze customer behaviors. However, in the real world, items are found with both positive and negative utility values. To address this issue, we propose an algorithm named Modified Efficient High‐utility Itemsets mining with Negative utility (MEHIN) to find all HUIs with negative utility. This algorithm is an improved version of the EHIN algorithm. MEHIN utilizes 2 new upper bounds for pruning, named revised subtree and revised local utility. To reduce dataset scans, the proposed algorithm uses transaction merging and dataset projection techniques. An array‐based utility‐counting technique is also utilized to calculate upper‐bound efficiently. The MEHIN employs a novel structure called P-set to reduce the number of transaction scans and to speed up the mining process. Experimental results show that the proposed algorithms considerably outperform the state-of-the-art HUI-mining algorithms on negative utility in retail databases in terms of runtime.

PRESERVING PRIVACY FOR PAGERANK ALGORITHM

Data mining has been emergingly applied in many fields to discover the knowledge from the huge data. To do that, information has been sent forward and backward among data owners, users, and maybe third parties. In this situation, it is necessary to design systems to exchange the data between the data owner, the client and third parties during data mining process without scarifying the sensitiveness of data. Hence, we need a privacy preserving mechanism while mining to protect the data as in the situation of sophisticated cyber-attack. In this work, we describe a model for ensuring the privacy in ranking on the graph using PageRank and Shamir Secure Sharing scheme. Specifically, Shamir Secure Sharing scheme has been applied to share the information of graph from the data owner to many servers (i.e. third party). Then, the share of graph on each server will be ranked separately. When the users need the results of ranking and make a request, the information from servers will be combined for the users. Doing this way, the third party doesn’t know the meaning of data but still run analyzing the data. Hence, data owner preserves the privacy of his data while users still retrieve a piece of the information as needed.

ADAPTIVE SLIDING MODE CONTROL OF MOBILE MANIPULATOR WELDING SYSTEM FOR FLAT HULL BLOCK Author:

In this paper, an adaptive sliding mode control of mobile manipulator welding system for horizontal fillet joints is presented. The requirements of welding task are that the end effector must track along a welding trajectory with a constant velocity and must be inclined to the welding trajectory with a constant angle in the whole welding process. The mobile manipulator is divided into two subsystems such as the tree linked manipulator and the wheeled mobile platform. Two controllers are designed based on the decentralized motion method. The effectiveness of the proposed control system is proven through the simulation results.

EFFECT OF FERMENTED CONDITIONS ON PINEAPPLE WINE PROCESS

An investigation was undertaken to optimize the processing conditions for making of good quality wine from pineapple juice. The process technology with respect to level of initial juice total soluble solid (TSS), level of sugar, and level of total acid content to raise the juice TSS and fermentation time has been standardized to make acceptable wine from the pineapple juice. The juice was extracted from the ripe fruits of Queen cultivar. The wines made by adjusting sugar level of 24 0Brix with sucrose, acidity level of 0.5 % and fermentation up to 14 days were found to be appropriate to produce acceptable wine from pineapple juice.

A DESIGN AND FABRICATION OF ALOE VERA PEELING AND DICING MACHINE

In this research, aloe vera peeling and dicing system is designed and fabricated with high capacity of 5 ton/hr. The system consists of aloe vera fillet, peeling and dicing mechanism. The system is tested for different speed of the roller and leaf thickness. It is concluded that for getting the maximum gel peeling efficiency 98.56%, the system should be carried out at 75 rpm roller speed for 20-22 mm thickness of aloe vera leaves. The dicing efficiency also exhibits high result with mechanism help changing the flexible aloe vera dice size. Moreover, the system also shows the high stability for reaching capacity of 5 ton/hr while running continuously in ten hours.

A METHOD FOR TRAJECTORY TRACKING FOR DIFFERENTIAL DRIVE TYPE OF AUTOMATIC GUIDED VEHICLE

This paper proposes trajectory tracking algorithm for differential drive type of Automatic Guided Vehicle (AGV) using backstepping control and simultaneous localization and mapping (SLAM). To guarantee the tracking errors go to zero, backstepping control method is proposed. By choosing appropriate Lyapunov function based on its kinematic modeling, system stability is guaranteed and a control law can be obtained. For its positioning, simultaneous localization and mapping (SLAM) algorithm is employed. The landmarks are detected using spike algorithm. The AGV position can be estimated using Kalman filter by combining the encoder result and landmark positions. The simulation and experimental results show that the proposed controller successfully tracks the given trajectory.