Application of a Pid+fuzzy controller on the motion control system in machine tools

This work deals with an hybrid PID+fuzzy logic controller applied to control the machine tool biaxial table motions. The non-linear model includes backlash and the axis elasticity. Two PID controllers do the primary table control. A third PID+fuzzy controller has a cross coupled structure whose function is to minimise the trajectory contour errors. Once with the three PID controllers tuned, the system is simulated with and without the third controller. The responses results are plotted and compared to analyse the effectiveness of this hybrid controller over the system. They show that the proposed methodology reduces the contour error in a proportion of 70:1.

Speed Control of an Autonomous Mobile Robot: Comparison between a PID Control and a Control Using Fuzzy Logic

An Autonomous Mobile Robot battery driven, with two traction wheels and a steering wheel is being developed. This Robot central control is regulated by an IPC, which controls every function of security, steering, positioning localization and driving. Each traction wheel is operated by a DC motor with independent control system. This system is made up of a chopper, an encoder and a microcomputer. The IPC transmits the velocity values and acceleration ramp references to the PIC microcontrollers. As each traction wheel control is independent, it's possible to obtain different speed values for each wheel. This process facilities the direction and drive changes. Two different strategies for speed velocity control were implemented; one works with PID, and the other with fuzzy logic. There were no changes in circuits and feedback control, except for the PIC microcontroller software. Comparing the two different speed control strategies the results were equivalent. However, in relation to the development and implementation of these strategies, the difficulties were bigger to implement the PID control.

Simulation of Active Control Using Fuzzy Logic Applied to a Pulse Combustor

This work analyzes an active fuzzy logic control system in a Rijke type pulse combustor. During the system development, a study of the existing types of control for pulse combustion was carried out and a simulation model was implemented to be used with the package Matlab and Simulink. Blocks which were not available in the simulator library were developed. A fuzzy controller was developed and its membership functions and inference rules were established. The obtained simulation showed that fuzzy logic is viable in the control of combustion instabilities. The obtained results indicated that the control system responded to pulses in an efficient and desirable way. It was verified that the system needed approximately 0.2 s to increase the tube internal pressure from 30 to 90 mbar, with an assumed total delay of 2 ms. The effects of delay variation were studied. Convergence was always obtained and general performance was not affected by the delay. The controller sends a pressure signal in phase with the Rijke tube internal pressure signal, through the speakers, when an increase the oscillations pressure amplitude is desired. On the other hand, when a decrease of the tube internal pressure amplitude is desired, the controller sends a signal 180º out of phase.

Sistema de classificação fuzzy para o risco de infestação por plantas daninhas considerando a sua variabilidade espacial

Este artigo trata do problema de classificação do risco de infestação por plantas daninhas usando técnicas geoestatísticas, análise de imagens e modelos de classificação fuzzy. Os principais atributos utilizados para descrever a infestação incluem a densidade de sementes, bem como a sua extensão, a cobertura foliar e a agressividade das plantas daninhas em cada região. A densidade de sementes reflete a produção de sementes por unidade de área, e a sua extensão, a influência das sementes vizinhas; a cobertura foliar indica a extensão dos agrupamentos das plantas daninhas emergentes; e a agressividade descreve a porcentagem de ocupação de espécies com alta capacidade de produção de sementes. Os dados da densidade de sementes, da cobertura foliar e da agressividade para as diferentes regiões são obtidos a partir de simulação com modelos matemáticos de populações. Neste artigo propõe-se um sistema de classificação fuzzy utilizando os atributos descritos para inferir os riscos de infestação de regiões da cultura por plantas daninhas. Resultados de simulação são apresentados para ilustrar o uso desse sistema na aplicação localizada de herbicida.

Fuzzy ontology for knowledge mobilisation and decision support

A growing concern for organisations is how they should deal with increasing amounts of collected data. With fierce competition and smaller margins, organisations that are able to fully realize the potential in the data they collect can gain an advantage over the competitors. It is almost impossible to avoid imprecision when processing large amounts of data. Still, many of the available information systems are not capable of handling imprecise data, even though it can offer various advantages. Expert knowledge stored as linguistic expressions is a good example of imprecise but valuable data, i.e. data that is hard to exactly pinpoint to a definitive value. There is an obvious concern among organisations on how this problem should be handled; finding new methods for processing and storing imprecise data are therefore a key issue. Additionally, it is equally important to show that tacit knowledge and imprecise data can be used with success, which encourages organisations to analyse their imprecise data. The objective of the research conducted was therefore to explore how fuzzy ontologies could facilitate the exploitation and mobilisation of tacit knowledge and imprecise data in organisational and operational decision making processes. The thesis introduces both practical and theoretical advances on how fuzzy logic, ontologies (fuzzy ontologies) and OWA operators can be utilized for different decision making problems. It is demonstrated how a fuzzy ontology can model tacit knowledge which was collected from wine connoisseurs. The approach can be generalised and applied also to other practically important problems, such as intrusion detection. Additionally, a fuzzy ontology is applied in a novel consensus model for group decision making. By combining the fuzzy ontology with Semantic Web affiliated techniques novel applications have been designed. These applications show how the mobilisation of knowledge can successfully utilize also imprecise data. An important part of decision making processes is undeniably aggregation, which in combination with a fuzzy ontology provides a promising basis for demonstrating the benefits that one can retrieve from handling imprecise data. The new aggregation operators defined in the thesis often provide new possibilities to handle imprecision and expert opinions. This is demonstrated through both theoretical examples and practical implementations. This thesis shows the benefits of utilizing all the available data one possess, including imprecise data. By combining the concept of fuzzy ontology with the Semantic Web movement, it aspires to show the corporate world and industry the benefits of embracing fuzzy ontologies and imprecision.

Phenology, fruit set and dispersal of Cordia multispicata Cham., an important weed shrub of abandoned pastures in eastern Amazonia

ABSTRACT - (Phenology, fruit set and dispersal of Cordia multispicata Cham., an important weed shrub of abandoned pastures in eastern Amazonia). The reproductive ecology of the distylous tropical shrub Cordia multispicata was studied in an abandoned pasture in Paragominas County , Pará state, Brazil. It is a common species in the Amazon basin where it occurs as a weed in open and disturbed habitats. C. multispicata has many flowers per inflorescence (85 ± 12) but 84% abort before fertilization. Flowering occurs throughout the year. Fruits are small, with a red fleshy pericarp (skin-pulp) attractive to birds. Fruit set is lower during the dry season (less than 30%) and higher during the rainy season when there are many visits of insects to the flowers. Fruiting has a peak between the end of the dry season and the middle of the rainy season. Nineteen bird species were observed foraging for the fruits of C. multispicata, and 79% of those species can be considered as potential dispersal agents. The efficient seed dispersal and aggregated spatial distribution associated with some characteristics of the dispersors greatly contributed to the success of this species in abandoned pastures of eastern Amazonia.

Flowering phenology, seed set and arthropod guilds in Trichogoniopsis adenantha (DC) (Asteraceae) in south-east Brazil

and glades. This species blooms throughout the year, attracting arthropods of various guilds, including herbivores, pollinators and predators. In this study, done over a two year period, we described the phenology of T. adenantha and assessed the seasonal variation in arthropod numbers of different guilds. We also determined the periods of lowest and highest seed set. T. adenantha population showed a peak in flowering in March-April (rainy season) with greater production of achenes in December-April. April and October had respectively highest and lowest number of fertilized, undamaged ovules, and this pattern is possibly related with population dynamics of pollinators and herbivores. In August, which was the period of greatest damage to the stigma (by geometrid larvae), there was a positive relationship between the proportion of unfertilized ovules and flowers with damaged stigma, suggesting that floral herbivory may affect reproduction in T. adenantha. We discuss the complex dynamics of the beneficial and harmful interactions between arthropods and the host plant.

Pollination and fruit set in pumpkin (Cucurbita pepo) by honey bees

Species of Cucurbitaceae are cultivated worldwide and are depend on bee pollination for fruit set. Field and lab experiments were conducted at Cornell University, Ithaca, NY, during 1996 and 1997 to determine "Howden" pumpkin (Cucurbita pepo L.) pollen removal and deposition by honeybees and factors relating to male flower attractiveness. Several parameters were evaluated in flowers at anthesis: (1) removal of pollen from anthers by honey bees, (2) pollen deposition on the stigma by honey bees, (3) amount of pollen on the body of honey bees, (4) fruit set after bee pollination, and (5) male flower nectary's pores and flower attractiveness. Honey bees carried between 1,050 to 3,990 pollen grains and 13,765 were removed from an anther after one visit. The amount of pollen deposited on the stigma by the honey bees varied according to the number of visits, from 53 grains with one visit, to 1,253 grains with 12 visits, and the mean number of grains in each visit varied from 53 to 230 grains. The percentage of established fruits was higher (100%) when the flowers received 12 visits of Apis mellifera, corresponding to a load 1,253 pollen grains. The attractiveness of the male flower for pollen and nectar collection was increased by the degree of opening of the access pore to the nectary in the flower.

Fuzzy tolerance/equivalence relations from intersection, union and complement operators and their application to a clustering method

This master thesis work introduces the fuzzy tolerance/equivalence relation and its application in cluster analysis. The work presents about the construction of fuzzy equivalence relations using increasing generators. Here, we investigate and research on the role of increasing generators for the creation of intersection, union and complement operators. The objective is to develop different varieties of fuzzy tolerance/equivalence relations using different varieties of increasing generators. At last, we perform a comparative study with these developed varieties of fuzzy tolerance/equivalence relations in their application to a clustering method.

Analyzing the Effects of the New Renewable Energy Policy in Russia on Investments into Wind, Solar and Small Hydro Power

This thesis presents an analysis of recently enacted Russian renewable energy policy based on capacity mechanism. Considering its novelty and poor coverage by academic literature, the aim of the thesis is to analyze capacity mechanism influence on investors’ decision-making process. The current research introduces a number of approaches to investment analysis. Firstly, classical financial model was built with Microsoft Excel® and crisp efficiency indicators such as net present value were determined. Secondly, sensitivity analysis was performed to understand different factors influence on project profitability. Thirdly, Datar-Mathews method was applied that by means of Monte Carlo simulation realized with Matlab Simulink®, disclosed all possible outcomes of investment project and enabled real option thinking. Fourthly, previous analysis was duplicated by fuzzy pay-off method with Microsoft Excel®. Finally, decision-making process under capacity mechanism was illustrated with decision tree. Capacity remuneration paid within 15 years is calculated individually for each RE project as variable annuity that guarantees a particular return on investment adjusted on changes in national interest rates. Analysis results indicate that capacity mechanism creates a real option to invest in renewable energy project by ensuring project profitability regardless of market conditions if project-internal factors are managed properly. The latter includes keeping capital expenditures within set limits, production performance higher than 75% of target indicators, and fulfilling localization requirement, implying producing equipment and services within the country. Occurrence of real option shapes decision-making process in the following way. Initially, investor should define appropriate location for a planned power plant where high production performance can be achieved, and lock in this location in case of competition. After, investor should wait until capital cost limit and localization requirement can be met, after that decision to invest can be made without any risk to project profitability. With respect to technology kind, investment into solar PV power plant is more attractive than into wind or small hydro power, since it has higher weighted net present value and lower standard deviation. However, it does not change decision-making strategy that remains the same for each technology type. Fuzzy pay-method proved its ability to disclose the same patterns of information as Monte Carlo simulation. Being effective in investment analysis under uncertainty and easy in use, it can be recommended as sufficient analytical tool to investors and researchers. Apart from described results, this thesis contributes to the academic literature by detailed description of capacity price calculation for renewable energy that was not available in English before. With respect to methodology novelty, such advanced approaches as Datar-Mathews method and fuzzy pay-off method are applied on the top of investment profitability model that incorporates capacity remuneration calculation as well. Comparison of effects of two different RE supporting schemes, namely Russian capacity mechanism and feed-in premium, contributes to policy comparative studies and exhibits useful inferences for researchers and policymakers. Limitations of this research are simplification of assumptions to country-average level that restricts our ability to analyze renewable energy investment region wise and existing limitation of the studying policy to the wholesale power market that leaves retail markets and remote areas without our attention, taking away medium and small investment into renewable energy from the research focus. Elimination of these limitations would allow creating the full picture of Russian renewable energy investment profile.

Clinical signs of pneumonia in children: association with and prediction of diagnosis by fuzzy sets theory

The present study compares the performance of stochastic and fuzzy models for the analysis of the relationship between clinical signs and diagnosis. Data obtained for 153 children concerning diagnosis (pneumonia, other non-pneumonia diseases, absence of disease) and seven clinical signs were divided into two samples, one for analysis and other for validation. The former was used to derive relations by multi-discriminant analysis (MDA) and by fuzzy max-min compositions (fuzzy), and the latter was used to assess the predictions drawn from each type of relation. MDA and fuzzy were closely similar in terms of prediction, with correct allocation of 75.7 to 78.3% of patients in the validation sample, and displaying only a single instance of disagreement: a patient with low level of toxemia was mistaken as not diseased by MDA and correctly taken as somehow ill by fuzzy. Concerning relations, each method provided different information, each revealing different aspects of the relations between clinical signs and diagnoses. Both methods agreed on pointing X-ray, dyspnea, and auscultation as better related with pneumonia, but only fuzzy was able to detect relations of heart rate, body temperature, toxemia and respiratory rate with pneumonia. Moreover, only fuzzy was able to detect a relationship between heart rate and absence of disease, which allowed the detection of six malnourished children whose diagnoses as healthy are, indeed, disputable. The conclusion is that even though fuzzy sets theory might not improve prediction, it certainly does enhance clinical knowledge since it detects relationships not visible to stochastic models.

Fuzzy expert system in the prediction of neonatal resuscitation

In view of the importance of anticipating the occurrence of critical situations in medicine, we propose the use of a fuzzy expert system to predict the need for advanced neonatal resuscitation efforts in the delivery room. This system relates the maternal medical, obstetric and neonatal characteristics to the clinical conditions of the newborn, providing a risk measurement of need of advanced neonatal resuscitation measures. It is structured as a fuzzy composition developed on the basis of the subjective perception of danger of nine neonatologists facing 61 antenatal and intrapartum clinical situations which provide a degree of association with the risk of occurrence of perinatal asphyxia. The resulting relational matrix describes the association between clinical factors and risk of perinatal asphyxia. Analyzing the inputs of the presence or absence of all 61 clinical factors, the system returns the rate of risk of perinatal asphyxia as output. A prospectively collected series of 304 cases of perinatal care was analyzed to ascertain system performance. The fuzzy expert system presented a sensitivity of 76.5% and specificity of 94.8% in the identification of the need for advanced neonatal resuscitation measures, considering a cut-off value of 5 on a scale ranging from 0 to 10. The area under the receiver operating characteristic curve was 0.93. The identification of risk situations plays an important role in the planning of health care. These preliminary results encourage us to develop further studies and to refine this model, which is intended to implement an auxiliary system able to help health care staff to make decisions in perinatal care.

Selection of patients for myocardial perfusion scintigraphy based on fuzzy sets theory applied to clinical-epidemiological data and treadmill test results

Coronary artery disease (CAD) is a worldwide leading cause of death. The standard method for evaluating critical partial occlusions is coronary arteriography, a catheterization technique which is invasive, time consuming, and costly. There are noninvasive approaches for the early detection of CAD. The basis for the noninvasive diagnosis of CAD has been laid in a sequential analysis of the risk factors, and the results of the treadmill test and myocardial perfusion scintigraphy (MPS). Many investigators have demonstrated that the diagnostic applications of MPS are appropriate for patients who have an intermediate likelihood of disease. Although this information is useful, it is only partially utilized in clinical practice due to the difficulty to properly classify the patients. Since the seminal work of Lotfi Zadeh, fuzzy logic has been applied in numerous areas. In the present study, we proposed and tested a model to select patients for MPS based on fuzzy sets theory. A group of 1053 patients was used to develop the model and another group of 1045 patients was used to test it. Receiver operating characteristic curves were used to compare the performance of the fuzzy model against expert physician opinions, and showed that the performance of the fuzzy model was equal or superior to that of the physicians. Therefore, we conclude that the fuzzy model could be a useful tool to assist the general practitioner in the selection of patients for MPS.

Tuotekehitysprosessin alkupään järjestäminen pelialan yrityksessä

Tämän diplomityön tarkoitus on rakentaa mobiilipeliyritykselle tuotekehitysprosessin alkupään prosessi tuotekehityksen tehostamiseksi. Toimialan dynaamisuudesta ja hyperkilpailullisuudesta johtuen sekä projektien abstraktin luonteen takia tulee mobiilipelikehitysyritysten erityisesti panostaa tuotekehityksen alkuvaiheisiin. Työ tutkii yleisiä tuotekehityksen periaatteita sekä yleisiä olemassaolevia tuotekehitysprosesseja. Tarkastelun kohteena ovat erityisesti innovatiivinen organisaatio ja benchmarking tuotekehityksen apuna. Yleisesti tuotekehitysprosesseista tutustutaan yleisimpiin malleihin, jotka ovat olleet valtavirran käytössä jo pitkään. Prosessien tarkastelun lisäksi niitä tutkitaan kriittisesti ja löydetään osa-alueita, joihin tulee keskittyä erityisesti tuotekehitysprosessin alkupään järjestämisessä. Lisäksi työssä paneudutaan alan menestyneiden yritysten toimintatapoihin, joista haetaan oppia rakennettavaan malliin. Työssä käsitellään myös toimialan ominaispiirteitä, joista johtuen perinteiset tuotekehitysprosessit eivät ole optimaalisia alalle. Työn tuloksena saadaan virtaviivainen prosessimalli, joka maksimoi luovuuden, mutta säästää resursseja ja luo selkeät linjat prosessin läpivientiin. Rakennettuun malliin pohditaan myös kehitysehdotuksia, ja sille on laadittu kevyt jatkokehityssuunnitelma. Malli menee suoraan yrityksen käyttöön, joten lopullinen malli tulee myös hioutumaan tuotekehitysprojektien edetessä. Työssä on erityistä se, että työn tekijä on toiminut alalla työtehtävissä, ja malli on hioutunut pitkän ajan kuluessa. Täten suuri osa työstä on tekijän hiljaisen tiedon avaamista ja pohtimista.