Trajectory Control of Electro Hydraulic Excavator using Fuzzy Self Tuning Algorithm with Neural Network

This paper presents the trajectory control of a 2DOF mini electro-hydraulic excavator by using fuzzy self tuning with neural network algorithm. First, the mathematical model is derived for the 2DOF mini electro-hydraulic excavator. The fuzzy PID and fuzzy self tuning with neural network are designed for circle trajectory following. Its two links are driven by an electric motor controlled pump system. The experimental results demonstrated that the proposed controllers have better control performance than the conventional controller.

A dynamical neural network for hitting an approaching object

Besides making contact with an approaching ball at the proper place and time, hitting requires control of the effector velocity at contact. A dynamical neural network for the planning of hitting movements was derived in order to account for both these requirements. The model in question implements continuous required velocity control by extending the Vector Integration To Endpoint model while providing explicit control of effector velocity at interception. It was shown that the planned movement trajectories generated by the model agreed qualitatively with the kinematics of hitting movements as observed in two recent experiments. Outstanding features of this comparison concerned the timing and amplitude of the empirical backswing movements, which were largely consistent with the predictions from the model. Several theoretical implications as well as the informational basis and possible neural underpinnings of the model were discussed.

Earthmoving trucks condition level prediction using neural networks

Purpose: The purpose of this paper is to present an artificial neural network (ANN) model that predicts earthmoving trucks condition level using simple predictors; the model’s performance is compared to the respective predictive accuracy of the statistical method of discriminant analysis (DA).

Design/methodology/approach: An ANN-based predictive model is developed. The condition level predictors selected are the capacity, age, kilometers travelled and maintenance level. The relevant data set was provided by two Greek construction companies and includes the characteristics of 126 earthmoving trucks.

Findings: Data processing identifies a particularly strong connection of kilometers travelled and maintenance level with the earthmoving trucks condition level. Moreover, the validation process reveals that the predictive efficiency of the proposed ANN model is very high. Similar findings emerge from the application of DA to the same data set using the same predictors.

Originality/value: Earthmoving trucks’ sound condition level prediction reduces downtime and its adverse impact on earthmoving duration and cost, while also enhancing the maintenance and replacement policies effectiveness. This research proves that a sound condition level prediction for earthmoving trucks is achievable through the utilization of easy to collect data and provides a comparative evaluation of the results of two widely applied predictive methods.

Power-Capped DVFS and Thread Allocation with ANN Models on Modern NUMA Systems

Abstract—Power capping is an essential function for efficient power budgeting and cost management on modern server systems. Contemporary server processors operate under power caps by using dynamic voltage and frequency scaling (DVFS). However, these processors are often deployed in non-uniform memory
access (NUMA) architectures, where thread allocation between cores may significantly affect performance and power consumption. This paper proposes a method which maximizes performance under power caps on NUMA systems by dynamically optimizing two knobs: DVFS and thread allocation. The method selects the optimal combination of the two knobs with models based on artificial neural network (ANN) that captures the nonlinear effect of thread allocation on performance. We implement
the proposed method as a runtime system and evaluate it with twelve multithreaded benchmarks on a real AMD Opteron based NUMA system. The evaluation results show that our method outperforms a naive technique optimizing only DVFS by up to
67.1%, under a power cap.

A novel radial basis function neural network principal component analysis scheme for PMU-based wide-area power system monitoring

A novel model-based principal component analysis (PCA) method is proposed in this paper for wide-area power system monitoring, aiming to tackle one of the critical drawbacks of the conventional PCA, i.e. the incapability to handle non-Gaussian distributed variables. It is a significant extension of the original PCA method which has already shown to outperform traditional methods like rate-of-change-of-frequency (ROCOF). The ROCOF method is quick for processing local information, but its threshold is difficult to determine and nuisance tripping may easily occur. The proposed model-based PCA method uses a radial basis function neural network (RBFNN) model to handle the nonlinearity in the data set to solve the no-Gaussian issue, before the PCA method is used for islanding detection. To build an effective RBFNN model, this paper first uses a fast input selection method to remove insignificant neural inputs. Next, a heuristic optimization technique namely Teaching-Learning-Based-Optimization (TLBO) is adopted to tune the nonlinear parameters in the RBF neurons to build the optimized model. The novel RBFNN based PCA monitoring scheme is then employed for wide-area monitoring using the residuals between the model outputs and the real PMU measurements. Experimental results confirm the efficiency and effectiveness of the proposed method in monitoring a suite of process variables with different distribution characteristics, showing that the proposed RBFNN PCA method is a reliable scheme as an effective extension to the linear PCA method.