Journal of Majlesi Journal of Mechatronic Systems
Volume:6 Issue: 2, Jun 2017

In this paper, sliding mode control (SMC) is exploited to control pitch and yaw angles of a nonlinear two-degree-of-freedom (2-DOF) helicopter. Experimental results show that due to chattering phenomenon, SMC cannot control this plant. In order to remove this chattering, a boundary layer is considered around sliding surface but it causes steady-state error in outputs. Therefore, integral augmented is added to conventional SMC (SMC+I) to improve its performance. Finally, the experimental performance comparison between the conventional SMC, the integral augmented SMC and PID control based on linear quadratic regulator algorithm (LQR-PID) are discussed. The results imply to the superior performance of SMC+I method in improving input tracking, control effort, and steady state error for both pitch and yaw angles.

Smart class parking systems which are currently in operation mostly imported systems are with a default program. This will limit itself, because the change in the program mostly by the same people who has been programming it, this involves a lot of costs. Also, the protocols running on these systems mostly encoded protocols. Usually, intelligent communication devices must work with this protocol this will again restrict itself. In designing smart systems, according to the type of programming, used equipment and the design method is of particular importance. in this study, Its purpose that the intelligent system can with the least error control the car parking and give us the desired output. For this purpose, in this paper, answering system analysis, It is done by wplsoft software as well as DOPsoft. A further method for controlling all elements of class parking is presented. Also according to the results the driver can park his car in the right place in less time and also the operator can park all the blank spaces on the monitor and also watch your Android desk. In the final section, a parking lot has been controlled in a case study.

The goal of this paper is to develop a model predictive control based on pseudo-spectral (PS) discretization to control the reactor temperature and concentration of species in a continuous stirred-tank reactor (CSTR). CSTR is a highly nonlinear system which is an important process in chemical engineering. To apply online optimal control to the CSTR, nonlinear model predictive control (NMPC) is the best option. In the online application of model predictive control, in order to have a computationally feasible control algorithm, the low discretization nodes are necessary to decrease the computation time of the NMPC. Motivated by the successful implementation of PS optimal control in aerospace and military industry, the Legendre-Gauss PS optimal control in a receding horizon manner is implemented to CSTR. The simulation results prove the better performance of the proposed method over the equal distance discretization of NMPC in computation time.

Application of proper project management methods and tools beside having ordered and systematic thinking in information technology (IT) is the key for success in the organizations. One if these methods is investigating impacts of project portfolio management on IT projects in the organizational units. Thus, current work aims at investigating impacts of project portfolio management on IT projects using Bert De Reyck's model in IT unit of Isfahan University of Medical Sciences in 2013. It is an applied research work in terms of purpose and it is a descriptive survey in terms of data collection procedure. It is a correlation research in terms of methodology. Statistical population included 27 experts from IT Office in Isfahan University of Medical Sciences. Data collection tool was a 35-item questionnaire which was designed using Likert five-point scale and it was distributed among the sample. T-test was used for data analysis and means of the items were compared with the approval scores in each stage. Findings indicate the organization under study is in the second stage of the model. In addition, portfolio management of the IT projects has had positive effect on effectiveness of the organization's projects. The weaker is portfolio management; problems of the organizational projects would be increased. Also, this organization is faced with such challenges asexperts, lack of a clear strategy, lack of knowledge, high volume of changes, priority and lack of relevant training, and poor employee performance.

A robot manipulator is a multi-input multioutput (MIMO) system with nonlinearities and coupling effects which makes the control design challenge, consequently providing a proper control law is important. According to this problems and presence of uncertainty, use of sliding mode controller is very common for this system. The most important problem in use of this controller is chattering phenomena. The aim of this study is to reduce this phenomenon by offering a new control law based on sliding mode control. In this manner, part of system dynamic will be estimated by the adaptive fuzzy algorithm. The stability of close loop system will be guaranteed by Lyapunov theory. MATLAB/SIMULINK has been used to simulate three-link manipulator and this controller. Simulation results show the effectiveness of proposed controller.

The vast number of sensors, the high volume of data, and the high speed of information storage makes data analysis difficult. Moreover, due to the high volume of data, analysis and information extraction is very complex and sometimes impossible. In order to increase the analysis speed and minimize the analysis period, information processing methods are employed. Principal Component Analysis (PCA) is one of the methods used for feature extraction, dimensional reduction, and analysis speed. In this paper, feature extraction and dimensional reduction is studied in phases 20 and 21 of unit 106 compressors of south Pars gas refinery. The efficiency of our proposed approach is demonstrated on SGT-600 Siemens compressors.