Abstract

Abstract
This paper addresses the problem of collision avoidance along specified paths in multiple mobile robot systems. These collisions can be represented by points of intersection or coincident segments between paths. The proposal of the work is to model these segments where the collision is possible through fictitious points. In addition, the advantages of the nonlinear versus mixed integer linear formulation, widely used in the literature, are verified. Comparisons were made and it’s proved the superiority of the proposed method with respect to complexity, computational time and inclusion of nonlinear constraints. Moreover, the simulations performed using this technique indicate that the method is promissory for applications in real systems. © Springer International Publishing AG 2018.

Abstract

Abstract
This paper describes the application of a Brain Emotional Learning (BEL) controller to improve the response of a SDOF structural system under an earthquake excitation using a magnetorheological (MR) damper. The main goal is to study the performance of a BEL based semi-active control system to generate the control signal for a MR damper. The proposed approach consists of a two controllers: a primary controller based on a BEL algorithm that determines the desired damping force from the system response and a secondary controller that modifies the input current to the MR damper to generate a reference damping force. A parametric model of the damper is used to predict the damping force based on the piston motion and also the current input. A Simulink model of the structural system is developed to analyze the effectiveness of the semi-active controller. Finally, the numerical results are presented and discussed. © Springer International Publishing Switzerland 2017.

Abstract
At the present there is a high pressure toward the improvement of all production processes. Those improvements can target distinct factors along the production chain. In particular, and due to recent tight energy efficiency policies, those that involve energy efficiency. As can be expected, agricultural processes are not immune to this tendency. Even more when dealing with indoor productions. In this context, this work presents an innovative system that aims to improve the energy efficiency of a trees growing platform. This improvement in energy consumption is accomplished by replacing an electric heating system by one based on thermodynamic panels. The assessment of the heating fluid caudal and its temperature was experimentally obtained by means of a custom made scaled prototype whose actuators status are commanded by a Fuzzy-based controller. The obtained results suggest that the change in the heating paradigm will lead to overall savings that can easily reach 60% on the energy bill. © Springer International Publishing Switzerland 2017.

Abstract
Vehicle suspension systems are usually based on passive actuators and control modes in which the damping and stiffness parameters are predefined and kept constant for all road profiles and vehicle response. A different approach is to use active systems to monitor and control the suspension motion in order to improve the vehicle handling and comfort. However, these systems have a complex design requiring a relatively high power source to operate. Semi-active systems are also capable to modify the properties of the vehicle suspension but with low power requirements making them a promising technology for demanding vibration control systems. This paper presents the findings of a numerical simulation involving a simplified model of a vehicle suspension system equipped with a MR actuator. The system is designed to improve the behavior (comfort and handling) of the vehicle compared with a traditional passive suspension system. A simple fuzzy logic controller is used to decide the control action in accordance with the measured system response. © Springer International Publishing Switzerland 2017.