H∞ Controller design for spectral MIMO models by convex optimization

A new method for robust fixed-order H_∞ controller design by convex optimization for multivariable systems is investigated. Linear Time-Invariant Multi-Input Multi-Output (LTI-MIMO) systems represented by a set of complex values in the frequency domain are considered. It is shown that the Generalized Nyquist Stability criterion can be approximated by a set of convex constraints with respect to the parameters of a multivariable linearly parameterized controller in the Nyquist diagram. The diagonal elements of the controller are tuned to satisfy the desired performances, while simultaneously, the off-diagonal elements are designed to decouple the system. Multimodel uncertainty can be directly considered in the proposed approach by increasing the number of constraints. The simulation examples illustrate the effectiveness of the proposed approach.     

ARO: A new model free optimization algorithm for real time applications inspired by the asexual reproduction

This paper presents a new individual based optimization algorithm, which is inspired from asexual reproduction known as a remarkable biological phenomenon, called as asexual reproduction optimization (ARO). ARO can be essentially considered as an evolutionary based algorithm that mathematically models the budding mechanism of asexual reproduction. In ARO, a parent produces a bud through a reproduction operator; thereafter the parent and its bud compete to survive according to a performance index obtained from the underlying objective function of the optimization problem; this leads to the fitter individual. ARO adaptive search ability along with its strength and weakness points are fully described in the paper. Furthermore, the ARO convergence to the global optimum is mathematically analyzed. To approve the effectiveness of the ARO performance, it is tested with several benchmark functions frequently used in the area of optimization. Finally, the ARO performance is statistically compared with that of an improved genetic algorithm (GA). Results of simulation illustrate that ARO remarkably outperforms GA.     

Hybrid flexible flowshops with sequence-dependent setup times and machine availability constraints

One of the common assumptions in the field of scheduling is that machines are always available in the planning horizon. This may not be true in realistic problems since machines might be busy processing some jobs left from previous production horizon, breakdowns or preventive maintenance activities. Another common assumption is the consideration of setup times as a part of processing times, while in some industries, such as printed circuit board and automobile manufacturing, not only setups are an important factor but also setup magnitude of a job depends on its immediately preceding job on the same machine, known as sequence-dependent setup times. In this paper, we consider hybrid flexible flowshops with sequence-dependent setup times and machine availability constraints caused by preventive maintenance. The optimization criterion is the minimization of makespan. Since this problem is NP-hard in the strong sense, we propose three heuristics, based on SPT, LPT and Johnson rule and two metaheuristics based on genetic algorithm and simulated annealing. Computational experiments are performed to evaluate the efficiencies of the algorithms.     

Non-parametric statistical background modeling for efficient foreground region detection

Most methods for foreground region detection in videos are challenged by the presence of quasi-stationary backgrounds—flickering monitors, waving tree branches, moving water surfaces or rain. Additional difficulties are caused by camera shake or by the presence of moving objects in every image. The contribution of this paper is to propose a scene-independent and non-parametric modeling technique which covers most of the above scenarios. First, an adaptive statistical method, called adaptive kernel density estimation (AKDE), is proposed as a base-line system that addresses the scene dependence issue. After investigating its performance we introduce a novel general statistical technique, called recursive modeling (RM). The RM overcomes the weaknesses of the AKDE in modeling slow changes in the background. The performance of the RM is evaluated asymptotically and compared with the base-line system (AKDE). A wide range of quantitative and qualitative experiments is performed to compare the proposed RM with the base-line system and existing algorithms. Finally, a comparison of various background modeling systems is presented as well as a discussion on the suitability of each technique for different scenarios.     

A survey and taxonomy on energy efficient resource allocation techniques for cloud computing systems

In a cloud computing paradigm, energy efficient allocation of different virtualized ICT resources (servers, storage disks, and networks, and the like) is a complex problem due to the presence of heterogeneous application (e.g., content delivery networks, MapReduce, web applications, and the like) workloads having contentious allocation requirements in terms of ICT resource capacities (e.g., network bandwidth, processing speed, response time, etc.). Several recent papers have tried to address the issue of improving energy efficiency in allocating cloud resources to applications with varying degree of success. However, to the best of our knowledge there is no published literature on this subject that clearly articulates the research problem and provides research taxonomy for succinct classification of existing techniques. Hence, the main aim of this paper is to identify open challenges associated with energy efficient resource allocation. In this regard, the study, first, outlines the problem and existing hardware and software-based techniques available for this purpose. Furthermore, available techniques already presented in the literature are summarized based on the energy-efficient research dimension taxonomy. The advantages and disadvantages of the existing techniques are comprehensively analyzed against the proposed research dimension taxonomy namely: resource adaption policy, objective function, allocation method, allocation operation, and interoperability.     

High throughput blood plasma separation using a passive PMMA microfluidic device

Since plasma is rich in many biomarkers used in clinical diagnostic experiments, microscale blood plasma separation is a primitive step in most of microfluidic analytical chips. In this paper, a passive microfluidic device for on-chip blood plasma separation based on Zweifach–Fung effect and plasma skimming was designed and fabricated by hot embossing of microchannels on a PMMA substrate and thermal bonding process. Human blood was diluted in various times and injected into the device. The main novelty of the proposed microfluidic device is the design of diffuser-shaped daughter channels. Our results demonstrated that this design exerted a considerable positive influence on the separation efficiency of the passive separator device, and the separation efficiency of 66.6 % was achieved. The optimum purity efficiency of 70 % was achieved for 1:100 dilution times.     

Robust Output Feedback Controller Design for Time‐Delayed Teleoperation: Experimental Results

In this paper, a robust output feedback control strategy is proposed for a nonlinear teleoperation system which can deal with stability as well as transparency despite the variable time‐delay and uncertain dynamics. The proposed approach is composed of two steps. First, local Lyapunov based adaptive controllers are applied to both master and slave sides in order to suppress the nonlinearities in the system dynamics. Afterwards, a new observer‐based controller scheme is proposed to achieve stability and performance (transparency) of the teleoperation system. Using the Lyapunov techniques, stability and performance objectives are cast as some linear matrix inequality (LMI) feasibility conditions. To evaluate the performance of the proposed controller, a set of simulations and experiments are performed. Through simulation results, it is demonstrated that the proposed approach significantly outperforms the existing methodologies reported in the literature.     

Solving a bi-criteria permutation flow-shop problem using shuffled frog-leaping algorithm

Flow shop problems as a typical manufacturing challenge have gained wide attention in academic fields. In this paper, we consider a bi-criteria permutation flow shop scheduling problem, where the weighted mean completion time and the weighted mean tardiness are to be minimized simultaneously. Due to the complexity of the problem, it is very difficult to obtain optimum solution for this kind of problems by means of traditional approaches. Therefore, a new multi-objective shuffled frog-leaping algorithm (MOSFLA) is introduced for the first time to search locally Pareto-optimal frontier for the given problem. To prove the efficiency of the proposed algorithm, various test problems are solved and the reliability of the proposed algorithm, based on some comparison metrics, is compared with three distinguished multi-objective genetic algorithms, i.e. PS-NC GA, NSGA-II, and SPEA-II. The computational results show that the proposed MOSFLA performs better than the above genetic algorithms, especially for the large-sized problems.     

Modeling industrial thickener using computational fluid dynamics (CFD), a case study: Tailing thickener in the Sarcheshmeh copper mine

Separation of particles from liquid in the large gravitational tanks is widely used in mining and industrial wastewater treatment process. Thickener is key unit in the operational processes of hydrometallurgy and is used to separate solid from liquid. In this study, population balance models were combined with computational fluid dynamics (CFD) for modeling the tailing thickener. Parameters such as feed flow rate, flocculant dosage, inlet solid percent and feedwell were investigated. CFD was used to simulate the industrial tailing thickener with settled bed of 120 m diameter which is located in the Sarcheshmeh copper mine. Important factor of drag force that defines the rake torque of rotating paddles on the bed was also determined. Two phases turbulence model of Eulerian/Eulerian in accordance with turbulence model of k-ε was used in the steady-state. Also population balance model consists of 15 groups of particle sizes with Luo and Lehr kernel was used for aggregation/breakage kernel. The simulation results showed good agreement with the operational data.     

Bilateral control of master-slave manipulators with constant time delay

This paper presents a novel teleoperation controller for a nonlinear master-slave robotic system with constant time delay in communication channel. The proposed controller enables the teleoperation system to compensate human and environmental disturbances, while achieving master and slave position coordination in both free motion and contact situation. The current work basically extends the passivity based architecture upon the earlier work of Lee and Spong (2006) [14] to improve position tracking and consequently transparency in the face of disturbances and environmental contacts. The proposed controller employs a PID controller in each side to overcome some limitations of a PD controller and guarantee an improved performance. Moreover, by using Fourier transform and Parseval's identity in the frequency domain, we demonstrate that this new PID controller preserves the passivity of the system. Simulation and semi-experimental results show that the PID controller tracking performance is superior to that of the PD controller tracking performance in slave/environmental contacts.