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CONFERENCE ON “SIGNAL PROCESSING AND REAL TIME OPERATING SYSTEM (SPRTOS)” MARCH 26-27 2011
TEMPORAL DIFFERENCES IN PROCESSING OF SYMMETRIC OBJECTS IN HUMAN

BRAIN
1
Taslima Ahmed, 2 Umesh Kumar, 3Prasant kumar
1,2&3
IIMT College of Engineering, Greater Noida, UP
ABSTRACT
Despite ample of research, perception, recognition and least twice as strongly to their preferred stimuli than no other
identification of symmetric objects like faces are still a stimuli. All human cortical regions can be found that
matter of active debate. Here we studied the difference in the respond selectively to faces (the fusiform face area (FFA)
neural mechanisms manifested by the most symmetrical [5,6] and, in many individuals, the occipital face area (OFA)
natural objects, “human faces” and unnatural symmetrical [7,8], to places and to a lesser extent – to buildings (the
objects like “paired ears and non biological objects” by parahippocampal place area (PPA) [9,10]), to body parts
using event related potential (ERP) study. To test such an (the extrastriate body area (EBA)[11] and, in most people,
assumption, human faces and symmetric unnatural objects the fusiform body area [12] and to visually presented words
were presented to subjects on a projected screen as visual or letter strings [13].The location and functional properties
stimuli. Electrophysiological data showed an important are very similar across humans. Hemodynamic techniques
latency effect for both of these categories of objects. N200 such as fMRI have identified brain regions associated with
represents an important step in recognition of symmetric face-processing, most notably in fusiform, ventral occipital
objects in visual world. Moreover the amplitudes of and superior temporal cortex. The precise role of the lateral
unnatural symmetrical objects are larger compared to those midfusiform (LMF) with processing the invariant aspects of
for facial activation, which confirms that the neural faces is contentious however. Furthermore, though it is
activation is more dominant for the unnatural novel objects generally activated during face perception, when comparing
than natural objects. face versus non-face stimuli [6], it is not always activated
during face recognition, when compromising familiar versus
Index Terms— Event related potentials (ERPs); N200; unfamiliar faces. For reasons not fully understood however,
Electrophysiology; Latency. other studies have found effects of both face recognition and
priming in the LMF.
1. INTRODUCTION The temporal characteristics of face-processing have
been elucidated by electrophysiological techniques.
Advances in electrophysiological techniques and brain Intracranial ERPs reveal a negative potential peaking -
imaging technology (especially functional magnetic 200ms post stimuli, in both ventral and lateral temporal
resonance Imaging (fMRI)) have radically improved our regions, which is greater to faces than scrambled faces or
understanding of the functional organization, spatial non-faces objects [14]. These data suggest that
locations as well as the process underlying the understanding hemodynamic correlates of recognition of face priming the
of spatial world around us. The burgeoning literature on this fusiform area of occipital cortex of human brain, which is
topic of spatial localization indicates that object recognition mostly domain-specific.
varies widely across brain system in visual cortex giving rise
to highly specific altercation as a domain-specific or The studies reviewed above have not directly compared
domain-general. The organization of the ventral visual the process of similar object perception, recognition in a
pathways is characterized by strong selectivity for particular particular localized area (domain specific) of the human
object categories at the level of both individual neurons and brain. Therefore, in the present study, we used even related
larger cortical regions [1]. There is a region in the brain, potentials study within a common paradigm. This allowed us
lateral occipital cortex (LOC) which is known as the object to compare these processes in terms of their cerebral
selective region [2]. The LOC has little selectivity for localization. We operational zed domain-general theory of
particular stimulus categories [3,4], but several regions of neural perception by comparing the ERPs study of faces vs.
cortex near the LOC are selective for particular object unnatural objects like paired ears as described in later
categories; they respond at sections.
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2. MATERIALS AND METHODS waveform can be quantitatively characterized across three

main dimensions: amplitude, latency, and scalp distribution.
2.1. Participants The ERP signals are either positive such as P300 (positive
peak appearing 300ms after stimulus onset), or negative
Ten volunteers participated in the said ERPs study after such as N170 and N100 (negative peak appearing
giving written and informed consent. Participants were six 170/100ms after stimulus onset). The digits indicate the time
men and four women, aged 19-30years (median 24). All in terms of milliseconds after the sensory stimuli (audio,
volunteers were right handed, in good health and with no visual, or somatosensory).
known neurological disorder. Although determination of the location of the ERP
sources within the brain is a difficult task, the scalp
2.2. Experimental design approach distribution of an ERP component can often provide very
useful and complementary information to that derived from
We used 32-channel EEG system to record neuronal activity amplitude and latency. The scalp recorded ERP voltage
during presentations of two categories of visual stimuli: activity reflects the summation of both cortical and sub
faces and symmetric pairs of biological objects (Fig. 1). The cortical neural activity within each time window. On the
photographs of faces were from an image database that has current source density (CSD) maps reflect primary cortical
been previously used in the lab. The pairs of ears were put surface activity. CSD maps are useful for forming
together from pictures of people‟s left and right ears. Just hypotheses about neural sources within the superficial
like the left and right sides of a face, a person‟s left and right cortex.
ears are similar but are not exactly the same. The parameters
for the signal acquisition were used to acquire the ERPs of 2.4. Data processing
100 objects from each category, stimuli onset time was
800ms while the inter-stimuli interval was fixed to 1s. By Analysis of electro encephalogram (EEG) data was
using advanced soft computing techniques, brain regions performed with MATLAB R2007a. The signal
that are activated by faces and symmetric unnatural objects corresponding to each visual stimulus was cut for averaging
were localized as regions of interests (ROIs). purpose to get the event related component. Pre-stimulus
data of duration 200ms was considered for each epoch to
eliminate base line drift. Therefore, the total length of each
epoch is 200ms (pre-stimuli) and 800ms (stimuli onset),
which is shown in the figures.
2.4.1. ERP analysis

Following artifact removal, the EEG signal was down-
sampled to 256Hz. The time locked data were then filtered
with a 0.5-50Hz band pass filter. Epochs of -200ms before
stimulus onset and 800ms after stimulus onset were averaged
separately for faces and symmetrical objects.
Fig 1: Samples of photos of faces and symmetric unnatural

objects used as stimuli
2.3. Event related potentials (ERPs) 3. RESULTS AND DISCUSSION
Event-related potentials (ERPs) in EEGs directly measure In the specific context of symmetric image-processing, an
the electrical response of the cortex to sensory, affective or ERP component is typically observed in the sensors at the
cognitive events. They are the voltage fluctuations in the occipito-temporal region and referred to as the N200. It is
EEG induced within the brain, which are typically generated characterized by negativity about 200 milliseconds
in response to peripheral or external stimulations, and following the onset of symmetric-images. The amplitude of
appear as somatosensory, visual, and auditory brain the N200 is significantly reduced for face images, as shown
potentials, or as slowly evolving brain activity observed in the figure below. A large body of work has supported the
before voluntary movements or during anticipation of idea that the N170 appears for a stimulus similar to a face in
conditional stimulation [14]. The amplitude of ERPs ranges appearance. However, the N200 appears to be sensitive for
from 1-30µV, lying relatively low in the background EEG symmetric objects. The N200 amplitude and latency were
activity. Therefore, often there is a need for the use of signal measured at the maximum negative peak of the ERP for
averaging procedure for their elucidation. The ERP faces and symmetric objects within 170-210ms.
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To assess the pattern of the N200 response for faces and Fig 3: ERP component from left occipital (O1) region for
symmetric objects in parietal, temporal and occipital faces and unnatural symmetric objects
electrodes (T5, O1, P3, O2, T6, P4), two ways ANOVA
with hemisphere and category (face, symmetric objects) as
repeated measures and amplitude or latency as dependent
measures were selected. Analysis reveals no difference
between the pattern of responses to faces and symmetric
objects at the right and left occipito-temporal electrodes.
The amplitude of the N200 was however larger for
symmetric novel objects than faces [F(1,9)=37.7, p<0.001].
The figures (3, 4) show the variation of amplitudes in
various electrodes.
The latency of the N200 for novel objects and faces
were very similar. A one-way ANOVA with hemisphere as
repeated measures revealed no difference in latency between
the components during two different objects condition
[F(1,9)=2.3, p=0.17]. Fig 4: ERP component from right occipital (O2) region for
The results of this study unveiled a number of faces and unnatural symmetric objects
dissociations between different forms of neural activity
associated with early face and object processing. The 4. CONCLUSION
amplitude of the N200 was higher in response to non-face
components than in response to face components. This result By using novel techniques, brain regions that were activated
links the N200 to a symmetric object detection mechanism by natural and unnatural symmetric objects were
with the facial recognition mechanism. distinguished. Consistent with previous studies, fusiform
gyrus (especially right and left FFA, O1 & O2) was the most
reliable region that was activated by faces and novel objects,
though the amplitudes of activation for faces were smaller
compared to objects. The results also provided some clue as
to the „domain general concept‟ of the human brain with
respect to similar types of visual inputs in „domain specific
regions‟. The activation level indicates the neuronal activity
during the recognition of novel objects, which are peculiar
in nature; hence the amplitudes of activation in such cases
are higher in comparison to faces, which are important and
common images recognized by the human visual system.
Fig 2: 10-20 system of EEG electrode placement

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[4] N.Kanwisher, R.P. Woods, M. Lacoboni and J.C. Mazziotta,

“A locus in human extrastriate cortex for visual shape analysis,”
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face area: a module in human extrastriate cortex specialized for
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Curr.Opin. Neurobiol., vol. 13, pp. 159-166, 2003.
[8] B.Rossion et al., “A network of occipito-temporal face

sensitive areas besides the right middle fusiform gyrus is necessary
for normal face processing,”Brain, vol. 126, pp. 2381-2395, 2003.
[9] R. Epstein and N. Kanwisher, “A cortical representation of the

local visual environment,” Nature, vol. 392, pp. 598-601, 1998.
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face and body selectivity on the fusiform gyrus,” J.Neurosci.,vol.
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[12] B.D.McCandliss,L.Cohen and S. Dehaene, “The visual word

form area: expertise for reading in the fusiform gyrus,” Trends
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“Electrophysiological studies of human face perception: potentials
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BCI competition:progress and perspective in detection and
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CONFERENCE ON ―SIGNAL PROCESSING AND REAL TIME OPERATING SYSTEM (SPRTOS)‖ MARCH 26-27 2011
Modelling Neuron for Biomedical Applications: A Review

1 2
Taslima Ahmed , Dr Jiten Ch Dutta
1
Dept. of Electronics and Instrumentation Engg. IIMT College of Engineering, Greater Noida, Knowledge Park-III, UP-201306, India
Dept of ECE, Tezpur University , Napaam Post, Tezpur, Assam – 784 028, India
2
jitend@tezu.ernet.in
Abstract: Modelling of neuron including the action of synapse has played an important role in the
field of biomedical engineering and neurology for simulation of receptor function and electrical
activity of the postsynaptic neuron. In this paper, we review some literatures concerning the
development of different neuron models giving special emphasis on Dutta and Roy models.
Keywords— Neuron, Synapse, MOSFET, Postsynaptic membrane.
Over past few years, many electronic circuits

have been developed to reproduce the behaviour of
nerve axons [1]-[5]. A very good account of this
type of modelling is reviewed by Harmon et al [6]
and Lewis [7]. But among these models, The total current in this model is given by:
neuroscientists have, so far, utilized Hodgkin- I = Im+Io-INa+IK (1)
Huxley (H-H) model as a circuit analog of the If Vm be the postsynaptic membrane potential
axonal membrane. In this model, the capacitance of established by the ionic and capacitive membrane
the lipid bilayer of postsynaptic membrane is current then
represented by CM and is found to be constant and I = C(dVm/dt)+gO(Vm–EO)–gNa(Vm–ENa)+gK
the membrane resistance is determined in terms of (Vm–EK) (2)
three parallel conductances gNa, gk, and g0 as shown
in Fig.1. The conductances gNa, gK, and go represent The equations (1) and (2) are called H-H equations
the membrane permeability of Sodium, Potassium which are simple and capable of explaining the
and other ions respectively. ENa, and EK are activity of neuron with the help of variable
respectively the chemical potentials of Sodium and permeability of membrane for different ions, e.g.,
Potassium i.e., Nernstian membrane potential for sodium, potassium and other ions. But this model
Sodium and Potassium. EO is the resting potential. has not explained the function of synapses on which
The gk and gNa conductances are found to be time the variable permeability of postsynaptic membrane
and voltage dependent. arises.Refering to the biological activities of neuron,
the primary mode of communication between two
neurons is a biochemical process that occurs at
synapse. Synapse is essentially a junction called
synaptic cleft between two neurons namely
presynaptic and postsynaptic neurons. Signal from
presynaptic neuron to postsynaptic neuron is
transmitted through neurotransmitters released by
presynaptic neuron terminals in to the synaptic cleft.
Neurotransmitters diffuse through the cleft and then
bind with the specific receptor sites of the
membrane of postsynaptic neuron. This binding
Fig.1: H-H model mechanism initiates the opening of transmitter
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gated ion channels resulting in to flow of ions into the receptor sites, i.e. the
the cell or out of the post synaptic cell.
The membrane of post synaptic neuron has two
types of ion channels – excitatory and inhibitory.
The excitatory channels are those which are specific
to sodium ions and inhibitory channels are those
which are specific to Chloride ions. The flow of
Sodium ions into the cell causes a membrane
potential called excitatory postsynaptic membrane
potential (EPSP) whereas the flow of Chloride ions
causes an inhibitory postsynaptic membrane
potential (IPSP).The electrical mechanism of Fig.2: Electrical mechanism of synapse
synapse is shown in Fig 2. When an action potential
from the presynaptic neuron arrives at its terminals
connecting the cleft, neurotransmitters are released
into the cleft which diffuse through the cleft and
bind with the receptor sites of the postsynaptic
membrane. This binding mechanism opens the ion
channels situated at the membrane surface and ions
move into or out of the membrane. If the synapse is
excitatory, Sodium ions flow into the cell resulting
into positive current. As a result the membrane
depolarizes. If sufficient number of Sodium
channels open, then membrane potential will be
greater than the threshold VT of the neuron and
initiates an action potential. If the synapse is
inhibitory, Chloride ions move into the cell,
resulting into negative current. As a result the
Fig.3(a): Equivalent circuit of a presynaptic neuron
membrane hyperpolarizes. If the numbers of
opening of Chloride channels are sufficiently large
then membrane potential will be able to initiate an
action potential in negative direction. The
presynaptic equivalent circuit is shown in Fig 3(a),
where I is the total current from ionic channels of
all synapses and E1 ,E2, …., EM represent the
chemical potentials of each corresponding ions. For
example, EM may be ENa or may be ECl. The total
current I will stimulate the postsynaptic neuron to
initiate an action potential [8]. Fig 3(b) shows the Fig. 3(b): Electrical equivalent circuit of synapse
equivalent circuit of a synapse which is developed
by adding H-H equivalent circuit with the amount of ionic current is dependent upon the
presynaptic circuit shown in Fig 3(a) [9].The activity of the transmitter-receptor binding. In
postsynaptic membrane consists of a lipid bilayer simplest case, the binding reaction may be
and transmembrane protein ion channels. Some ion represented as
channels such as sodium, chloride etc. are
controlled by the neurotransmitters that bind with
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K1
Neuro-transmitter+Receptor(Closed) Neuro-
K2
transmitter –Receptor(Open) (3)
Where K1 and K2 are the forward and backward

rate constants respectively. The transmitter gated
channels, therefore, have variable conductance
dependence on the binding activity of transmitters.
Dutta and Roy therefore have modeled transmitter
gated ion channels by MOSFET, because MOSFET
functions as a voltage controlled conductance in its
linear region [10]. In this model they have
considered gate voltage as a time dependent voltage Fig.4(b): Circuit model for excitatory action of
given by synapse
Vg(t)=V0[(1–exp(-k1t)+exp(-k2t)U(t-tm)]
(4)
Where K1 and K2 are time constants analogous to
the rate constants of equation (3), U(t-tm) is the
Heaviside function andVo is a voltage proportional
to the maximum attainable conductance, when all
the transmitter-gated channels for a specific ion are
open. Based on this, they have developed a
biologically motivated model as shown in Fig.4 (a).
Their circuit models both for excitatory and
inhibitory synapses are shown in Fig.4(b) and 4(c)
respectively. In both these models they have
divided the postsynaptic membrane into three
patches to represent spatial summation of the Fig.4(c): Circuit model for inhibitory action of
sodium current and chlorine current controlled by synapse
respectively sodium and chloride conductances [10].
The simulation results from this model [Fig.5]
indicate that this model can be used in neuro
bioengineering area for simulation of
neurotransmitter-receptor binding activity and
electrical activity of the postsynaptic neuron.
Fig.4(a): Biologically motivated model of

postsynaptic membrane.
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units in biomedical area in general and neurology in

particular.
REFERENCES
[1] Hodgkin, A, L and Huxley, A. F., ―A
quantitative description of membrane current
and its application to conduction and excitation
in nerve‖, J. Physiol, 117. 500-544(1952)
[2] Hodgkin, A. L., ―Ionic movements and
electrical activity in giant nerve fibers‖,
Proceedings of the Royal Society of London.
Series B, Biological Sciences, Vol. 148, 1-
Fig.5: Simulation results of excitatory and 38(1957)
[3] Fitzhugh, R., ―Threshold and plateaus in the
inhibitory actions of postsynaptic Membrane. Top Hodgkin-Huxley nerve equations‖, J. Gen.
waveform represents the EPSP and bottom Physiology, 43, 867-(1960)
waveform represents the IPSP. [4] Johnson and Hanna, ―Membrane model: A
single transistor analog of excitable membrane,‖
J. Theoret. Bio, 22, 401-411(1969)
In an another model, they have used ion sensitive [5] E.R. Lewis, ― Neuroelectric potentials derived
from an extended version of the Hodgkin and
field effect transistor (ISFET) as circuit analog and Huxley model,‖ J. Theor. Biol. Vol.10,125-158,
incorporated into the famous Hodgkin-Huxley (H-H) 1965
model of neuron to substitute the variable Na+ and [6] L.D. Harmon and E.R.Lewis, ― Neural
modelling”, Physiol. Rev. , Vol, 48, 513-591,
Cl- conductances, the details of which may be 1966
obtained in reference [11]. They have mentioned [7] E.R.Lewis, ―Using electronic circuits to model
simple neuroelectric interactions,‖
that such model has additional advantages over Proc.IEEE,vol 56, 931-949, June 1968.
MOSFET based model. The advantages that they [8 ] Xiao-lin Zhang, ―A Mathematical Model of a
have high lighted are: Neuron with Synapses
(i) Measurement of different ions that diffuse based on Physiology‖, Nature Proceedings,
through the post synaptic membrane and hence pH npre.2008.1703.1. March
(ii) measurement of neurotransmitters diffused 2008.
through the synaptic cleft by converting the ISFET [9] Soumik Roy, Jiten Ch Dutta, Shikhamoni
into neurotransmitter sensitive enzyme modified Phukan, ―Integrate-and-
FET (ENFET). This model, according to them, may Fire based Circuit model for simulation of
become a useful research unit in neurology for
excitatory and inhibitory
biotelemetry applications. The second advantage
synapses‖, Canadian Journal on Biomedical
that ENFET can also be used as circuit analog, in an
effort, they have modeled it using ENFET sensitive Engineering & Technology
to acetylcholine neurotransmitter for simulation of Vol. 1, No. 2 March 2010, 49-51.
[10] Jiten Ch Dutta and Soumik Roy
acetylcholine gated ion channels of the post ―Biologically motivated Circuit model for
synaptic membrane at the synaptic cleft[12]. simulation of excitatory and inhibitory
synapses‖, Canadian Journal on Biomedical
MOSFET and ISFET based electrical models both Engineering & Technology Vol. 1, No. 2 June
2010, 49-51.
for excitatory and inhibitory actions of neurons [11] Jiten Ch Dutta and Soumik Roy, ―An
have been reviewed. It is concluded that ISFET Electronic Circuit Model for simulation of
Synaptic Communication: The NEUROISFET
based models are more biologically motivated as for Wireless Biotelemetry‖, accepted for
these are compatible with biological medium and publication in the IEEE conf. on wireless
communication, 24-25 Feb, 2011, BITS,
there is possibility of measurement of MESRA
neurotransmitters diffused through the synaptic [12] Jiten Ch Dutta and Soumik Roy
cleft by converting the ISFET into neurotransmitter ―Biologically inspired Circuit model for
simulation of Acetylcholine gated ion channels
sensitive ENFET. These biologically motivated of the Postsynaptic membrane at synaptic cleft‖,
models may become useful research and teaching
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Proc. 2010 IEEE-EMBS Conference on Biomedical

Engineering and Sciences, IECBES2010, Nov 30–Dec’ 02, 2010
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Organ Failure Assessment in Malarial Patients

Using Artificial neural networks
Mr. Jay Kumar Pandey
Shri Ramswaroop Memorial College of Engineering and Management , Lucknow , U.P

Email id : er.jay11@gmail.com
Abstract
researchers never stop working on during the ICU stay
Health Care Management is one of the most important and was first developed to evaluate morbidity.
and most important research areas of the new Although this scoring system was developed to describe
millennium. The main purpose of this work was to analyze and quantify organ function and not to predict outcome,
the data on malaria patients in India using the artificial the obvious relationship between organ dysfunction and
neural networks such as Brain maker and statistical mortality has been demonstrated in several studies. These
analysis software (SAS). This data is known that SOFA SOFA scores do not predict the exact rate of morbidity
(Sequential Organ Failure Assessment) score and this every time but provide meaningful result most of the
information useful in providing the condition of the organ times. Nowadays although we have many scoring systems
and based on this, the patient’s survival rate can be like creating a better system compared to the other which
estimated. In this analysis, the same individual SOFA always happens in a continually developing field such as
score of different organ systems (esp. the ones which are medicine. This work was done in an attempt to find such
used to calculate the overall SOFA score) for 753 patients system which is efficient compared to the standard system
admitted in an hospital in India with malaria were trained like SOFA score.
using artificial neural networks to provide better Determining the patients survival chance based on these
predictions of the survival rate compared to the overall scoring systems is very critical in an Indian hospital
SOFA scores. Using the statistical analysis tools like SAS, environment. In this study two different methods of
the statistical aspects of this data was studied. Also, using predicting the hospital mortality were reviewed. One was
SAS, analysis was done on the data of the Indian malaria using these SOFA scores, doing the statistical analysis on
patients and the interested outcomes were projected in the the available data to see how accurate are these scores in
figures at the end of this paper. The results show that the predicting the mortality while the other one is using the
artificial neural network turns out to be an efficient neural networks to predict the mortality rate. Later these
predictor of survival rate and the results were two results were compared to see which method is better
comparable to the SOFA scoring system where the same in predicting the mortality.
variables used for calculating the overall SOFA score This work was done in an attempt to develop an
were used for training the neural network efficient method compared to the standard method. It was
observed that the neural networks were as efficient as the
Keywords: Artificial neural networks, SOFA, malaria,
traditional SOFA scoring system in predicting the
organ failure, statistical analysis
mortality of the patients.
1. Introduction 1.1. Severe Malaria
Currently available prediction models such as the Acute Unless P. falciparum malaria is promptly diagnosed and
Physiology and Chronic Health Evaluation APACHE) II, treated, the clinical picture may deteriorate rapidly. There
Simplified Acute Physiology Score (SAPS), and is significant morbidity and mortality associated with the
Mortality Probability Models (MPM) use values taken occurrence of severe malaria. Young children, pregnant
within the first 24 hrs of an ICU stay. However, these women, immunosupressed patients and any non-immune
scores ignore the many factors that can influence patient persons are at risk for the development of complications.
outcome during the course of an ICU stay beyond the first One can assume that all South Africans living in the
24 h. The Sequential Organ Failure Assessment (SOFA) malaria areas in this country and all South African
assesses patients for organ dysfunction not only at ICU travelers are non-immune.
admission but serially APACHE II, SAPS, MPM etc,
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1.2. Indicating Features (ii) and leukocytes

(iii) All cell types use similar processes and cell-
1.2.1. Clinical Features adhesion molecules to adhere to the endothelium (i–iii).
They can also form rosettes in the blood, which are
Impaired consciousness, convulsions, Respiratory analogous to mini-thrombi in sepsis. Cell adhesion and
distress: acidosis, ARDS, pulmonary edema, Jaundice, vasoactive molecules released during infection cause
Bleeding and Shock. disruption of the endothelial tight junction
(iv) and, potentially, leakage of plasma proteins into
1.2.2. Biochemical Features the interstitial space
(v). whether this leak becomes greater, or ECs
Renal impairment – serum creatinine, >265 μmol/liter or become apoptotic and slough off, leaving gaps for
rapidly rising creatinine or urine output endothelial hemorrhage
>265 <400 ml/day (adult) (vi), has yet to be determined. The blockade of
• Acidosis (plasma bicarbonate <15 mmol/liter) functional capillaries leads to a build up of lactic acid in
(serum lactate > 5 mmol/liter) the tissue
• Hepatic impairment (vii) but only mild hypoxia because the blood flow in
(transaminases > 3 times normal) the arterioles is maintained during ECM.
• Hypoglycemia (blood glucose < 2.2 mmol/liter) Figure.1.B. Annex in V-stained endothelial cells
• Hypoxia (pO2 - < 8 Kpa in room air) incubated with neutrophils plus serum from a patient with
fatal P. falciparum malaria (green fluorescence). Necrotic
1.2.3.Haematological Features cells were stained with propidium iodide (red
fluorescence). The inset shows endothelial cells incubated
• Parasitaemia > 5%, or > 3+ with serum from a healthy person as a negative control.
• Haemoglobin < 6 g/l or haematocrit<20% Figure.1.B
• > 5% neutrophils contain malaria pigment
• Presence of schizonts of P. falciparum in peripheral
blood smears
• Evidence of DIC
Figure.1.C.
Figure.1. A.Cellular events that occur late in disease

development and contribute to malaria pathogenesis.
The early events of innate immune-cell and platelet
activation by parasite antigens, and the production of
cytokines, chemokines and vaso active molecules are not
depicted. P RBCs adhere through e CAMS
(i) Pselectinis expressed at low levels in ECs that
have not been activated, indicating that e CAMs with high
basal levels, such as ICAM1, and CD36 function in early
adhesion. This cell adhesion, together with molecules
derived from immune cells and platelets, activates ECs to Figure.1.(C) TUNEL-stained kidney (a) and lung (b)
increase their e CAM levels, increasing p RBC adhesion sections from two patients who had died from fatal P.
(i) and facilitating the adhesion of platelets falciparum malaria showed the highest apoptosis rates
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(median of 61% and range of 54 to 68 for two patients), efects in the endothelial cell layers, a phenomenon that is
followed by sera from patients with severe P. falciparum, consistently seen secondary to apoptosis.
mild P. falciparum, and P. vivax malaria. Sera from
Patients with fatal malaria plus neutrophils induced large 2. Observed Organ Failure
Most of the patients with malaria have a pre-existing applied within the medical domain for clinical diagnosis,
organ dysfunction or failure or develop organ failure image analysis and interpretation, signal analysis and
during the progress of the disease sometimes which may interpretation, and drug development.
lead to death of the patient. Organ dysfunction is
associated with high rates of hospital morbidity and 4. Data Analysis and Knowledge Discovery
mortality and as such accounts for a high portion of ICU
budget. Recently developed organ failure scores such as The development phase of the neural network began with
Sequential organ failure Assessment (SOFA) can help the conception of a study protocol which involved the
assess organ dysfunction or failure over time and are comparison of the morbidity rates predicted by APACHE
useful to evaluate Morbidity. II and Artificial neural networks. Several models of
Malaria occurs in 300–500 million individuals annually, artificial intelligence techniques have been used in the
resulting in 1.5–2.7 million deaths. Most deaths occur due ICU. One such technique suited to predict mortality is the
to Plasmodium falciparum infection, which produces life artificial neural network.
threatening cerebral, renal, hepatic, and hematological The main goal of this paper is to compare neural
dysfunction in about 1% of cases. This causes infected red networks with an already validated and commonly used
blood cells (RBCs) to adhere to capillary and venular outcome prediction model. The question remains whether
endothelium, non infected erythrocytes, and platelets, a model such as SOFA scoring is better at predicting
resulting in circulatory obstruction. The brain is the most hospital outcome than a model derived from Indian
common organ to be involved in severe malaria. Up to patients treated in an Indian hospital. It was therefore
45% of cerebral capillaries may be occluded at attempted to compare the predictive accuracy of artificial
postmortem examination because the receptors to which neural networks derived from Indian patients with the
infected RBCs adhere are maximally expressed on SOFA scoring system.
cerebral capillary endothelium. Coma also may result The variables which were used to train the neural
from interference with synaptic transmission by nitric network were similar to the ones used for predicting the
oxide from vascular endothelium, raised intracranial overall SOFA score. The sofa scores used were those of
pressure due to vasodilatation, and increased capillary the six different organ systems estimated during the first
permeability. A combination of microcirculatory 48hrs of the patient’s admission in the hospital.
occlusion, cytokine activation, and nitric oxide-mediated The network training was done using Brain maker
changes in vascular tone are believed to cause organ professional and Net maker Professional. The data
dysfunction that characterizes severe malaria. However, which has been worked on was that of 753 patients who
malaria is not well recognized in critical care literature as were suffering from malaria in an Indian hospital. Out of
a cause of multiple organ dysfunction syndromes. this, data on 553 patients was used to train the network
and that of 200 patients was used to test the network. The
3. Neural Network based Model results were then read in to a text file.
Using SAS (Statistical Analysis Software), the
Artificial neural networks are computational paradigms frequency bar charts was drawn for survival and SOFA
based on mathematical models that unlike traditional scores. The SOFA Scores were then recoded to six
computing have a structure and operation that resembles different ranges and the table analysis was done with
that of the mammal brain. Neural networks lack these ranges and survival. This table analysis gives the
centralized control in the classical sense, since all the percentage of patient’s corresponding to each different
interconnected processing elements change or “adapt” SOFA range. The correlation procedure was done to find
simultaneously with the flow of information and adaptive the correlation between SOFA score and survival.
rules. The commonest learning mechanism in artificial Using Excel 2002, graphs were drawn for the output
neural networks is the back-propagation algorithm, acquired from neural network to see the percentage of
wherein the system predicts the outcome for each patient people survived and also graphs were drawn on these 200
based on past experience (memory) and compares this patients used for testing the neural network to see the
with actual outcome. actual percentage of people survived. Then both of these
The advantage of neural networks over conventional results were compared to see predictive capability of the
programming lies in their ability to solve problems that do trained network.
not have an algorithmic solution or the available solution Using Access 2002, queries were written to compare the
is too complex to be found. Neural networks have been real survival rate with that of the output acquired from
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neural networks. Also data was queried to find if the OFA survival/mortality rate were compared to the prediction
score ranges actually predict the mortality rate done by ANN’s and it was found that the survival rate for
comparable to that of the real data. Then those data of these patients was predicted accurately by ANN’s.
patients whose SOFA range is not consistent with the
Figure .2.A. Sequential Organ Failure Assessment Data
5. Experimental Results Using Neural

Networks:
After training the data using Brain maker, the least

RMS error and Average errors were determined and the
plot of the output is shown in the figure 2.
Some of the data were used to validate the model. The
trained model behaved very well and the accuracy of the
model was over 88%. It was found that the performance
of the model of neural networks was significantly better
than that of the SOFA score model when applied to the
given data set.
The SOFA range 4 had the patients who both survived Figure 2 .B. Statistical analyses of the data using SAS:
as well as died which explains that SOFA scoring system
also has its inadequacies. When this SOFA range (SOFA
range=4) was further analyzed using Microsoft Access
2002 to check the individual values present in this range,
it was observed that 3 patients survived and 3 patients
died. Surprisingly, it was also observed that the 3 patients
out of which 2 people survived and 1 died had the same
SOFA score of 16. This doesn’t explain the fact how 2 Figure 3: Correlation Procedure
persons with the same SOFA score can show distinct
Survival capabilities. When these 6 patients who had the
SOFA range of 4 was compared to the results predicted
by Brain maker, it was observed that the neural network
(Brain maker) gave the correct prediction rates for these
patients.
The correlation procedure was performed on the test
data (200 patients) on SOFAMAX and the SURVIVAL.
It was observed that the parameters have very good
correlation as seen in figure3. Figure 4: Data analysis of SURVIVAL and
These SOFAMAX values were then recoded in to SOFAMAX ranges
ranges to better predict the variations in survival for The histograms for these SOFAMAX ranges was
different SOFA score ranges. The table analysis of these plotted for both survivors and non-survivors indicating
SOFAMAX ranges with SURVIVAL was done indicating the total number of survivors/non survivors for each
the percent of patients in each SOFAMAX range as SOFAMAX range as shown in figure 5. The frequency
shown in figure 4. plot of the non-survivors with different SOFA score
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ranges is supposed to show that the percentages of people network which works as good as the standard SOFA
with higher SOFA score are supposed to have higher rate scores and is also little efficient compared to the standard
of mortality. SOFA scoring system here.
7. References
[1] http://www.malaria.org/
[2] http://www.ncbi.nlm.nih.gov/entrez/query.fcgi
[3] http://www.cdc.gov/malaria/
[4] http://my.webmd.com
[5] http://home.uchicago.edu/~junji/KRL_HP/chestrad.htm
[6] www.nd.com/whatisnn.htm
[7] http://www.openclinical.org/home.html
[8] “Intelligence in medical image processing” Image and

Vision Computing, 19(4), 177.
[9] Dinesh Mital, Shankar Srinivasan, Syed Haque and Radhika

Figure 5: Bar Chart of survivors and non-survivors Uppalapati Dept. of Health Informatics Univ. of Medicine and
for different SOFAMAX ranges Dentistry of New Jersey School of Health Related Professions
But it’s observed that there is a decline in the graph Newark, NJ.
level which suggests that the rate of mortality is lesser in [10] Aizenberg I., Aizenberga N, Hiltnerb J et al (2001).
the SOFA range-6 compared to the Percentage of “Cellular neural networks and computational intelligence
mortality with SOFA range 5. This percentage decline inmedical image processing.” Image and Vision Computing,
with increase in SOFA range leads to an ambiguous 19(4), 177-183.
condition. When results of the tested network were
checked with the original data, it was observed that the [11] Anthony, D., Hines, E., Barham, J., & Taylor, D. (1990).
trained network produced accurate results for 198 patients “A Comparison of Image Compression by Neural Networks and
out of these 200 patients, which shows that it gave 99% of Principal Component Analysis”. In International Joint
the exact results. The reason for being so accurate in Conference on Neural Networks, Vol. 1, pp. 339--344.
prediction might have the possibility that the data used for [12] Baxt, W. G. (1995). “Application of Artificial Neural
training and testing is very low. Most of the times in the Networks to Clinical Medicine”. Lancet, 346, 1135-1138.
real world situations the data sets may be so large that the
neural network is not trained as good as it was in this case [13] “Review of Neural Network Applications in Medical
and also the results may not be as accurate as it was in Imaging and Signal Processing.” Medical and Biological
this case. Engineering and Computing, 30(5), 449-464.
[14] Miller, A. (1993). “The Application of Neural Networks to

6. Conclusion Imaging and Signal Processing in Astronomy and Medicine”
Ph.D. thesis, Faculty of Science, Department of Physics,
This project was aimed at making the peoples life in University of Southampton.
Medical field (like physicians, nurses) easier while
assisting by providing them with tools which have been [15] Weinstein, J., Kohn, K., Grever, M., et al. (1992). “Neural
created with the improving technology to make the Computing in Cancer Drug Development: Predicting
complex decisions easier. Such systems not only help Mechanism of Action”. Science, 258, 447--451.
them to predict the outcomes but are much efficient in
cutting costs of the hospital due to early discovery of this [16] Weinstein, J., Kohn, K., Grever, M., et al. (1992). “Neural
Computing in Cancer Drug Development: Predicting
knowledge. This project also aims at such embedded Mechanism of Action”. Science, 258, 447--451.
technology into the field of medicine to make the pp. 3546--3551.
complex decision easier and foresee the outcome most of
the times.
This work has been successful in achieving its
objective. The results are reliable. Based on the results
above still it can be said that it is an efficient neural
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AN INTELLIGENT CONTROL METHOD TO REDUCE BRAKE NOISE
Pramod Kumar Pandey Yaduvir Singh

daddapramodpandey@gmail.com dryaduvirsingh@gmail.com
Department of Electrical Instrumentation Department of Electrical Instrumentation
Engineering Thapar University Patiala Engineering Thapar University Patiala
Punjab -147004 Punjab -147004
Abstract: In this paper, a novel approach large number of manufacturers of brake pad
to suppress vibration that causes brake materials spend up to 50% of their
noise is proposed employing a closed-loop engineering costs on issues related to noise,
feedback control method using an active vibration and harshness. Even to this day,
force control (AFC) based strategy and there is no precise or conclusive definition
fuzzy logic controller. The idea is to of brake squeal that has gained complete
introduce an active element that acceptance. It is also worth mentioning that
dynamically compensates the since in a vehicle with disc brakes installed
disturbances through a control at the front wheels while drum brakes at the
mechanism that takes into account the back wheels, around 70% of the braking
direct measurements and estimation of action occurs at the front wheels. Thus, it is
parameters in the AFC section. A disc expected that most of the noise and squeal is
brake model is considered and simulated coming from the front disc brake system.
taking into account a number of In literature, there are three major
operating and loading conditions. Results methods to study and reduce brake squeal,
clearly show the superiority of the namely through mathematical modeling,
proposed AFC + fuzzy -based scheme experimental and finite element methods.
compared to the AFC+ PID and pure PID One of the most recent works that has been
counterpart in suppressing the vibration carried out for reducing brake noise using
and hence the brake noise. finite element (FE) can be found in [3].
They developed a dynamic FE model of the
Key Terms - Brake noise; vibration; brake system, and based on their analysis,
robust; active force control, PID, Fuzzy the pad design changes can be made in the
logic controller. FE model to determine the potential
improvements in the dynamic stability of the
I. INTRODUCTION system and also in noise reduction. Wagner
The brake system of an automobile et al. proposed a new mathematical rotor
typically consists of the contact metallic based model of a brake system that is
solids rubbing against each other, which suitable for noise analysis [4]. Brief
frequently generates undesirable noise and descriptions of the previous mathematical
vibrations. Thus, noise generation and models that have been developed by other
suppression have become an important researchers were explicitly outlined in their
factor to be considered in the design and study. Besides, there is also an active control
manufacture of brake components. Indeed, method known as dither control which
as note by Abendroth and Wernitz [1], a makes use of high frequency disturbance
COS0201-1
signal for the suppression of the automotive constant normal force FN against a block
disc brake squeal. Through this scheme, the modeled as a block of mass m. Fig. 1 shows
dither signal stabilizes friction induced self- that the model is just a single-point mass
oscillations in the disc brake using a sliding over a conveyor belt and there are
harmonic vibration, with a frequency higher two linear springs k1 and k2 parallel and
than the squeal frequency generated from a normal to the belt surface with the latter
stack of piezoelectric elements placed in the regarded as the physical contact stiffness
caliper piston of the brake system. The between the objects in relative sliding
resulting control vibration was not heard motion. In addition, there is another linear
from the brake system if an ultrasonic spring k mounted at oblique angle of 45°
control signal was activated. This system constituting the off-diagonal terms in the
assumes an open loop control mode in model‟s stiffness matrix. For the friction
which there is no requirement to detect the component, a coulomb model is assumed
presence of squeal and is much simpler in such that FT = μ FN, where μ is the
design than the feedback control [5]. This coefficient of kinetic friction usually taken
paper presents a closed loop control to be constant. FN is a normal force and
employing system Active Force Control since the normal force at the friction
(AFC) with PID element applied to a brake interface is linearly related to the vertical
model described in [6] in order to suppress displacement x2 of the mass then the
the brake noise and squeal. The main resulting friction will become FF = μ k2 x2.
advantage of the AFC technique is its ability Assuming that the mass of the conveyor belt
to reject disturbances that are applied to the system is larger than the mass block, it
system through appropriate manipulation of implies that the vibration of the belt does not
the selected parameters. show any changes due to its inertia.
In addition, the technique requires much The matrix form of the equation of motion
less computational burden and has been can be expressed as [6]
successfully demonstrated to be readily
implemented in real-time. AFC as first m 0 c1 0 k1 k1 /2 k /2
x1 x1 x1 k2 x2
proposed by Hewitt and Burdess [7] is very x2 x2 x2 N
0 m 0 c2 k /2 k2 k2 /2
robust and effective in controlling a robot
arm. Mailah [8, 9] has successfully
demonstrated the application of the ----------------- (1)
technique to include many other dynamical
systems with the incorporation of artificial
intelligence (AI) methods.
In this paper fuzzy logic+AFC based
model shows the better result than PID and
PID+AFC model. It also provides better
control accuracy and fast speed of response.
II. THE BRAKE MODEL

A disc brake system assuming a two
degree of freedom model based on the one
described in [6] is considered in the study.
The model consists of a conveyor belt with
constant velocity vB that is pushed with a
COS0201-2
Fd= F- M’. a ------------- (3)
Where F is the measured actuating force,

M’ is the estimated mass and a is the
measured linear acceleration. This parameter
is then fed back through a suitable inverse
transfer function of the actuator to be
summed up with the PID control signal. The
theoretical analysis including stability of the
proposed AFC method has been sufficiently
described in [10]. A number of methods to
estimate the mass have been proposed in
previous studies such as through the use of
Figure 1.Two DOF model of a disc brake artificial intelligence (AI) and crude
system approximation techniques [7-9]. In this
III. CONTROL STRATEGY study, the use of crude approximation
After acquiring the model of the disc method to approximate the estimated mass is
brake and its related equation of motion, it is deemed sufficient. The main challenge of
required to control the vibration of the mass the AFC method is to acquire appropriate
with respect to the vertical direction, x2 estimation of the mass needed to compute
considering an actuator that produces a force the disturbance Fd in the feedback loop. A
F in parallel with the preload force N. Thus, conventional PID that is used with the AFC
(1) will be written as scheme can be typically represented by the
m 0 c1 0 k1 k1 /2 k /2 following equation:
x1 x1 x1 k2 x2
x2 x2 x2 N F
0 m 0 c2 k /2 k2 k2 /2 Gc(s) = Kp + Ki /s + Kd s -------------- (4)
-------------------- (2)
A robust control strategy is proposed Where Kp, Ki and Kd are the proportional,
here employing an Active Force Control integral and derivative gains respectively.
(AFC) based scheme that is used in
conjunction with the conventional PID
controller. The PID controller was first
tuned with Ziegler-Nichol‟s method for
good performance and later the AFC part
was incorporated into the system to provide
the compensation of the disturbances. Fig. 2
shows the AFC scheme applied to a
dynamic translation system (disc brake).
AFC scheme is shown to be very effective
provided the actuated force and body
acceleration are accurately measured and at
the same time the estimated mass property
approximated [7, 8]. The essential AFC
equation can be related to the computation
of the estimated disturbance Fd as follows:
COS0201-3
In this work, namely the step

disturbances are deliberately introduced to
the disc brake system to evaluate the
robustness of the system. The Simulink
diagram of the passive disc brake system
model is shown in Fig. 3. The schematic
block diagram was constructed from (1).
Figure 2 Schematic diagram of AFC

strategy
IV. SIMULATION
The actuator is assumed to be a linear Figure 3 Passive brake system
type with a suitable constant gain. It
provides the necessary external energy to In order to have an active disc brake
suppress vibration in the model. The system, an actuator force for compensating
parameters used in this study were taken the disturbance force is required, and the
from the previous research [11]. However, actuator force is controlled by a PID
some of them need to be modified to suit the controller which typically involves a
application in the simulation. The detailed negative feedback loop. Hence, there are
parameters are as follows: two inputs to the dynamic disc brake system
Minimal disc brake model parameters: which is the step disturbance and the
 Body mass, m = 0.7 kg, actuator force input. Figure 4 shows the
 Spring stiffness, k = 10 N/m, k1 = active disc brake system.
11 N/m, k2 = 20 N/m
 Damping coefficient, c1 = 0.4 Ns/m,
c2 = 0.4 Ns/m
 Friction coefficient, μ = 0.3
 Normal preload, N = 5 N
Actuator:
 Actuator gain, Q = 0.5
Reference value:
 Reference input = 0.00 m (i.e. no
vibration)
Disturbance:
 Magnitude of step function = 1 N
Frequency = 1.5 Hz
Figure 4 PID active brake control scheme
COS0201-4
Model for AFC+Fuzzy

To achieve better overall performance FLC provides an algorithm which can
of the brake system, AFC is „added‟ to the convert the linguistic control strategy based
PID controller, The AFC Simulink blocks on expert knowledge into an automatic
includes the estimated mass, parameter 1/Q control strategy. Experience shows that the
and the percentage of AFC gain. The input FLC yields results superior to those obtained
to the AFC control is the mass acceleration by conventional control algorithms. In
and the output is summed with the PID particular, the methodology of the FLC
controller output and then multiplied with appears very useful when the processes are
the actuator gain which finally generated the too complex for analysis by conventional
actuator force. In order to get the effective quantitative techniques or when the
results using this method, it is required to available sources of information are
have a suitable mass estimation combined interpreted qualitatively, inexactly, or
with the best tuning of the PID controller uncertainly. Thus fuzzy logic control may be
gains. Also a memory block is used to viewed as a step toward a rapprochement
eliminate the algebraic loops and algebraic between conventional precise mathematical
variable problems. Figure 5 shows an AFC control and human-like decision making.
scheme that has a step input as its In this research paper a fuzzy logic
disturbance. controller is developed. The inputs to the
FLC are applied force and change in force.
The output is change in vibration.
Figure 6: Membership function for input-1

Figure 5 PID+ AFC model for brake control
To tune the PID controller, we use the Figure 6 shows the membership
Ziegler-Nichol‟s method and the results are function for force.
tabulated as shown in Table-1
TABLE 1 PID PARAMETERS TUNED
USING ZIEGLER-NICHOL‟S METHOD
PID Kp Ki Kd Ti Td
Gain 0.6 0.857 0.105 0.7 0.17
Figure 7: Membership function for input-2

The estimated mass for the AFC loop was Figure 7 shows the membership
obtained by trial and error (crude function for change in force.
approximation method) in which a suitable
value was easily found to be 1.4 kg, and the
percentage of AFC used is 100% implying
that the AFC loop employs full AFC
implementation.
COS0201-5
Figure 8: Membership function for output

Figure 8 shows the membership
function for change in vibration.
Figure 11: Fuzzy+AFC model for break

control
V.RESULTS AND DISCUSSION

After tuning the PID control system
and obtaining suitable values for other
relevant parameters, the simulation was
executed for a period of 5 s since it is usual
Figure 9: The rule viewer of fuzzy logic that the brake process does not take more
controllers than that duration. At first, the step
Figure 9 shows the rules of fuzzy disturbance is applied and then the
logic controller. simulation was performed without using
AFC and only the pure PID controller was
applied. The result of this process can be
seen in Figure 12. It can be observed that the
vibration that may result in producing noise
is relatively high (a peak of more than 0.6 m
in amplitude in some regions). Next the
simulation was carried out again but this
time considering 100% AFC mode plus the
Figure 10: 3-D surface view of fuzzy logic
PID controller.
controller
Figure 10 shows the three dimensional
surface view of input and output
membership functions of fuzzy logic
controller. Figure 11 shows the fuzzy based
control of vibration.
Figure 12: Response of the brake model

with a step input disturbance for system with
PID
COS0201-6
Figure 13: Response in frequency domain Figure 15: Amplitude vs. time plot using
for PID step disturbance in AFC+Fuzzy
The result of the scheme is Figure 15 clearly shows the

superimposed onto previous graph obtained superiority of the Fuzzy+AFC scheme in
as shown in Figure 11. It is evident that the rejecting the vibration of the system. The
vibration is virtually reduced to a very low maximum amplitude of the vibration was
value, implying that squealing can be almost much lower compared PID+AFC model.
if not totally avoided. A closed-up view of
the graphical result of the PID+AFC scheme
is depicted in Figure 14. It clearly shows the
superiority of the scheme in rejecting the
vibration of the system. The maximum
amplitude of the vibration was less than
0.0004 m, which is very much lower
compared to the brake system operated with
a PID only controller.
Figure 16: Response of the brake model

with a step input disturbance for system with
AFC+Fuzzy
Figure 14 Performances of PID+AFC

Controller
COS0201-7
pad model enhanced by spectral-based assurance

criteria”, Applied Acoust (2007), doi: 10.1016 /
j.apacoust. 2006.09.010
[4] Utz von Wagner, Daniel Hochlenert and
Peter Hagedorn “Minimal Models for Disk
Brake Squeal”, Journal of Sound and Vibration,
vol. 302, pp. 527-539, 2007.
[5] A. Grag, “Active control of automotive disc
brake rotor squeal using dithers”, Master Thesis,
Georgia Institute of Technology, 2000.
[6] N. Hoffmann, N. Wagner, and L. Gaul,
“Quenching mode-coupling friction-induced
instability using high-frequency dither”, Journal
of Sound and Vibration, vol. 279, pp. 471–480,
2005.
Figure 17: Response in frequency domain [7] J.R. Hewit and J.S. Burdess, “Fast dynamic
for AFC+Fuzzy decoupled control for robotics using active force
control”, Trans. on Mechanism and Machine
VI. CONCLUSION Theory, vol. 16, no.5, pp. 535-542, 1981.
A novel AFC-based scheme has been [8] M. Mailah, “Intelligent active force control
of a rigid robot arm using neural network and
proposed to suppress the vibration and noise
iterative learning algorithms”, Ph.D Thesis,
(squeal) emanating from a disc brake University of Dundee, UK, 1998.
system. Based on the simulation results, it is [9] M. Mailah and N.I.A. Rahim, “Intelligent
obvious that when a pure PID controller is active force control of a robot arm using fuzzy
applied to the brake system, vibration and logic”, in: Proceedings of IEEE International
noise are in fact reduced but still a Conference on Intelligent Systems and
noticeable amount of them remain. Technologies, Kuala Lumpur, Malaysia, vol. 2,
However, upon applying the AFC+PID the pp. 291-296, 2000.
vibration and noise (squeal) are significantly [10] J.S. Burdess, J.R. Hewit “An active method
reduced and approaching zero datum. for the control of mechanical systems in the
Fuzzy+AFC strategy is robust and effective presence of unmeasurable forcing” Mechanism
and Machine Theory, vol. 21, no. 5, pp. 393-
in countering the undesirable effects. Future
400, 1986.
works may include using neuro-fuzzy [11] N. Hoffmann, M. Fischer, R. Allgaier, and
algorithm with AFC model. L., Gaul, “A minimal model for studying
properties of the mode-coupling type instability
REFERENCES in friction induced oscillations”, Mechanics
[1] H. Abendroth and B. Wernitz, “The Research Communications, vol. 29, pp. 197-205,
integrated test concept: dynovehicle, 2002.
performance-noise”, Technical Report 2000-01- [12] S.M Hashemi-Dehkordi, M. Mailah and
2774, SAE, Warrndale, PA, 2000. A.R. Abu-Bakar “A Robust Active Control
[2] N.M. Kinkaid, O.M. O‟Reilly, and P. Method to Reduce Brake Noise” Proceedings of
Papadopoulos, “Review: Automotive disc brake the 2008 IEEE International Conference on
squeal”, Journal of Sound and Vibration, vol. Robotics and Biomimetics Bangkok, Thailand,
267, pp. 105-166, 2003. 2009 978-1-4244-2679-9/08/ ©2008 IEEE.
[3] Yi Dai, Teik C. Lim, “Suppression of brake
squeal noise applying finite element brake and
COS0201-8
APPLICATION OF FUZY LOGIC IN AUTOMATIC BOTTLE FILLING SYSTEM

Nikita Agarwal1, Ritika Srivastava2, Preeti Dhiman3
EIE Department, Galgotias college of Engineering And Technology, Greater Noida
Abstract : In this paper we described the Fuzzy logic methodology is applied to regulate the
realization of an automatic Bottle Filling system level of liquid. Microcontroller provides the sample
designed with Fuzzy logic and implemented with input to the computer and with these input Matlab
microcontroller and matlab program .Previously program generates control signal for solenoid tab.
the system was semiautomatic ,the major We apply Fuzzy principles to a real plant , to see if
downfall of this approach was that system was an automated fuzzy could improve the
not able to impose correct pressure inside the performance of plant, avoiding bottle to get stuck
bottle ,so there were often Jamming condition. .The outline of bottle Filling system is shown in
The fuzzy Logic method overcomes these figure 1.
shortcomings by deploying a set of heuristic rules
and procedures derived from the deep
knowledge obtained from experienced skilful
control engineers. In this method we uses the
Proximity sensor and Light dependent resistor to
detect the presence of bottle and level of liquid
inside it and Fuzzy control is applied to regulate
the level of liquid inside the bottle.
Keywords: Fuzzy Logic, Heuristic rules, Fuzzy

control, automatic bottle filling production,
matlab, proximity sensor.
I. INTRODUCTION
Automatic Bottle Filling systems are used on large

scale in Industries such as mineral water, soft Fig 1. Outline of bottle filling system
drinks, food beverages and other similar {Courtesy: OMRON Tech for Focused Automation
industries. According to the International bottled [2]}
water association (IBWA), sale of Bottled water
has been tremendously increased by 500 percent
over the last decade [1].The bottling procedure
has been automated from a long time. Here we
developed a proximity sensor using a infrared
sensor that detects the presence of bottle and
light dependent resistor and comparator is
employed to sense the level of liquid in bottle.
Nikita Agarwal1, B.tech (Final year) , is with the Electronics and Fig2.Over and under filled Bottle
Instrumentation department, Galgotias College Of Engineering and {Courtesy: OMRON Tech for Focused automation
Technology ,Greater Noida ,India (corresponding author to provide
phone: 9953197920; email: nikita.agarwal2409@gmail.com) [2]}
Ritika Srivastava2 , Btech( Final year) , is with the Electronics and II. LITERATURE REVIEW
Instrumentation Department ,Galgotias college of Engineering and
Technology ,Greater Noida ,India(corresponding author to provide The semiautomatic system is not able to impose
phone: 9452829482 ; email: ritika.srivastava89@gmail.com).
the right pressure level inside the different section
Preeti Dhiman3 is working as Assistant Professor in EIE Department, of frame to maintain a constant velocity of the
GCET, Greater Noida, India(email:preetidhiman81@gmail.com, phone: bottles along the production line, which often
9911923434)
resulted in jamming condition. In [3] E.Mainardi
used fuzzy logic for realization of air transportation
bottling plant controller. The use of Fuzzy logic for
COS0202-1
the design and control of production system is timer, two data pointers, three 16-bit
widely used and recognized by scientists. Some timer/counters, a six-vector two-level interrupt
studies described recommendation for effective architecture, a full duplex serial port, on-chip
application of Fuzzy Logic in production system. oscillator, and clock circuitry. In addition, the
Fuzzy approach is also used in part family AT89S52 is designed with static logic for operation
formation [4] , control of an industrial desktop down to zero frequency and supports two
robot which are used in different industrial software selectable power saving modes. The Idle
application such as dispensing , soldering , screw Mode stops the CPU while allowing the RAM,
tightening[5]. Recently fuzzy logic controller is timer/counters, serial port, and interrupt system
employed in developing modular and to continue functioning. The Power-down mode
reconfigurable robots (MRR) in flexible automation saves the RAM con-tents but freezes the oscillator,
to reduce labour and increase throughput [6].Our disabling all other chip functions until the next
study will focus on analyzing a fully automatic interrupt. The connections are shown in fig 4.
bottle filling system with respect to performance
measures, equipment failures and breakdown.
III BRIEF DESCRIPTION OF THE SYSTEM
The system under study is a fully automatic bottle

filling system. It consists of a sensor to detect the
level of the liquid, RS232 and MAX232 is used for
interfacing of microcontroller with computers,
microcontroller to detect and transfer the signal
and finally it is implemented using fuzzy logic and
matlab programs. The system layout is shown in
figure 3. Fig 4. AT89S52 connection
B. MAX232
The MAX232 is an integrated circuit that

converts signals from an RS-232 serial port to
signals suitable for use in TTL compatible
digital logic circuits. The MAX232 is a dual
driver/receiver and typically converts the RX,
TX, CTS and RTS signals. The drivers provide
RS-232 voltage level outputs (approx. ± 7.5 V)
from a single + 5 V supply via on-chip charge
pumps and external capacitors. This makes it
useful for implementing RS-232 in devices that
Fig 3. System layout. otherwise do not need any voltages outside
the 0 V to + 5 V range, as power supply design
A.AT89S52 does not need to be made more complicated
just for driving the RS-232 in this case. The
The 89S52 is a low-power, high-performance receivers reduce RS-232 inputs (which may be
CMOS 8-bit microcontroller with 8K bytes of in- as high as ± 25 V), to standard 5 V TTL levels.
system programmable Flash memory. The device is These receivers have a typical threshold of
manufactured using Atmel’s high-density non- 1.3 V, and a typical hysteresis of 0.5 V. The
volatile memory technology and is compatible later MAX232A is backwards compatible with
with the industry-standard 80C51 instruction set the original MAX232 but may operate at
and pinout. The on-chip Flash allows the program higher baud rates and can use smaller external
memory to be reprogrammed in-system or by a capacitors – 0.1 μF in place of the 1.0 μF
conventional non-volatile memory programmer. capacitors used with the original device. The
By combining a versatile 8-bit CPU with in-system corresponding figure is shown in fig 5.
programmable Flash on a monolithic chip, the
embedded control applications. The AT89S52
provides the following standard features: 8K bytes
of Flash, 256 bytes of RAM, 32 I/O lines, Watchdog
COS0202-2
display drivers (LED gas discharge), line

drivers, and logic buffers. The ULN2003
has a 2.7k series base resistor for each
Darlington pair for operation directly with
TTL or 5V CMOS devices. The diagram of
ULN 2003 is shown in figure 7.
Fig 5. {MAX232 connection}
A. RS232
In RS-232, user data is sent as a time-series of bits.
Both synchronous and asynchronous transmissions
are supported by the standard. In addition to the
data circuits, the standard defines a number of
control circuits used to manage the connection
between the DTE and DCE. Each data or control
circuit only operates in one direction that is,
signaling from a DTE to the attached DCE or the
reverse. Since transmit data and receive data are
separate circuits, the interface can operate in a full
duplex manner, supporting concurrent data flow in
both directions. The standard does not define
Fig 7 .{ ULN2003 connection}
character framing within the data stream, or
character encoding. The corresponding figure is B. PROXIMITY SENSOR
shown in figure 6.
A proximity sensor is a sensor able to detect the
presence of nearby objects without any physical
contact. A proximity sensor often emits an
electromagnetic or electrostatic field, or a beam of
electromagnetic radiation (infrared, for instance),
and looks for changes in the field or return signal.
The object being sensed is often referred to as the
proximity sensor's target. Different proximity
sensor targets demand different sensors. For
example, a capacitive or photoelectric sensor
might be suitable for a plastic target; an inductive
proximity sensor requires a metal target. The
maximum distance that this sensor can detect is
defined "nominal range". Some sensors have
adjustments of the nominal range or means to
Fig 6. {RS232 connection}
report a graduated detection distance. Proximity
C. ULN2003 sensors can have a high reliability and long
functional life because of the absence of
The ULN2003 is a monolithic high voltage
mechanical parts and lack of physical contact
and high current Darlington transistor
between sensor and the sensed object. Proximity
arrays. It consists of seven NPN
sensors are also used in machine vibration
Darlington pairs that feature high-voltage
monitoring to measure the variation in distance
outputs with common-cathode clamp
between a shaft and its support bearing. This is
diode for switching inductive loads. The
common in large steam turbines, compressors,
collector-current rating of a single
and motors that use sleeve-type bearings.IEC
Darlington pair is 500mA. The Darlington
60947-5-2 define the technical details of proximity
pairs may be paralleled for higher current
sensors. A proximity sensor adjusted to a very
capability. Applications include relay
short range is often used as a touch switch. A
drivers, hammer drivers, lamp drivers,
COS0202-3
proximity sensor is divided in two halves and if the

two halves move away from each other, then a
signal is activated. A proximity sensor can be used
in windows, and when the window opens an alarm
is activated. The figure is shown in fig 8.
Fig 9. {Bottle filling system with level as input and

valve opening as output}
fig 8. The design of infrared proximity sensor

{courtesy: Autonics sensor and controller [7]}
IV DEVELOPMENT AND IMPLEMENTATION OF

FUZZY LOGIC IN THE SYSTEM
FUZZY LOGIC:
Fuzzy logic is an approach to computing based on

"degrees of truth" rather than the usual "true or
false" (1 or 0) Boolean logic on which the modern
computer is based. The idea of fuzzy logic was first
advanced by Dr. Lotfi Zadeh of the University of
California at Berkeley in the 1960s. Dr. Zadeh was
working on the problem of computer
understanding of natural language. Number of Fig 10. { Membership function plot of input
partial truths which we aggregate further into variable “Level”}
higher truths which in turn, when certain
thresholds are exceeded, cause certain further
results such as motor reaction. A similar kind of
process is used in artificial computer neural
network and expert systems. It may help to see
fuzzy logic as the way reasoning really works and
binary or Boolean logic is simply a special case of
it.
The implementation of fuzzy logic is shown in

figure 9,10 11 ,12 and 13. The input is taken as
Level , abbreviated as L1 ,L2 and L3. The
Corresponding output is taken as Valve Opening.
Fig 11. { Membership Function plot of Output

variable “valve opening”}
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pressure levels in order to maintain a constant

speed and flow of Bottle in entire plant and
avoiding Jamming Condition.
VI. CONCLUSION
The study shows how Fuzzy Logic is used for

designing the automatic bottle filling system.
Bottled water is the fastest growing beverage
industry in the world. A proximity sensor is
employed for detecting the presence of bottle and
Light dependent resistor and comparator is
employed for sensing the level of liquid inside the
bottle. Fuzzy Logic is employed for regulating the
Fig 12. Rules of bottle filling system
liquid level. There is no new investment on
machine , conveyors, or anything else.
REFERENCES
[1] WATER PET BOTTLE, From trash to treasure,

august 2001 .available at
http://www.designboom.com
[2] OMRON Tech Focused for automation solution.
[3] E.Mainardi, M.Bonfe, M.Golfieri, “Fuzzy

th
controller for an air conveyor bottling plant”, 16
IEEE conference on control applications, Singapore
1-3 0ctober, 2007
Fig 13.{ Rule viewer of bottle filling system}
[4]Chwen –Tzeng Su,” A Fuzzy Approach For Part
Family Formation “, International IEEE, page 289
(1995).
V. POSSIBLE PROBLEMS ON BOTTLING PLANT
[5] Santos, CM.P; Ferreira, M.J,” Control Of an
During transportation of Bottles several problem Industrial desktop Robot Using computer Vision
can occur , depending on shape and size of bottle , and fuzzy rules”, IEEE International , Volume 3
environmental conditions (temperature and ,page 1297-1303, 2005.
humidity can affect the sliding of bottle).For
instance one bottle gets stuck on the guide then it [6] Biglarbegian, M; Melek, W; Mendel, M;” Design
blocks all other bottles which are behind it. The of Novel Interval type- 2 Fuzzy Controller For
only solution in this situation is manual Modular and reconfigurable robots: Theory and
intervention of plant supervisor. But during the Experiments” IEEE, Volume pp,Issue:99, page
standard working of plant often the supervisor has (1),2010.
to change the pressure level of the pipe to
[7] Autonics sensor and controller. Available at
maintain a constant bottle flow. But sometimes
http://www.autonics.com.
operators do not know what to do in particular
situation. This is due to the complexity of plant .It
is clear that this is the typical fuzzy situation, so we
tried to design a fuzzy controller to modify the
COS0202-5
Real Time Control of Rotary Flexible Joint with LQR and Fuzzy
Controller
A rigid beam is mounted on a flexible joint

Abstract that rotates via a DC motor. The joint deflection
is measured using a sensor. The rotary flexible
In the position control of robot arm, Rotary joint is an ideal experiment intended to model a
Flexible Joint (ROTFLEX) constitutes main flexible joint on a robot or spacecraft. This
function of positioning the arm. The precision experiment is also useful in the study of
with which the arm is controlled depends on the vibration analysis and resonance.
response of motor and on different parameters
of flexible joint. This paper concentrates on 2. Features of ROTFLEX.
development of Linear Quadratic Regulator
(LQR) and fuzzy controller for flexible joint High Quality Aluminum chassis with
operated by a dc servomotor. The comparison of precision crafted parts
performance of real time system with simulation
is done by simultaneously observing measured · High Resolution Encoders to sense arm
and simulated angular position of flexible joint. position
It is found that the response is improved with · Variable Loads and Spring Anchors
fuzzy controller as compared to LQR. · Variable Spring Stiffness
· Fully documented system models &
1. Rotary Flexible Joint (Rotflex) parameters
· Open Architecture Facilitates Matlab /
The rotary flexible joint consists of a rotary Simulink
sensor mounted in a solid aluminum frame and Design
is designed to mount to a Quanser rotary servo · Modular Design
plant. The sensor shaft is aligned with the motor · 112 Distinct Configurations!
shaft. One end of a rigid link is mounted to the
sensor shaft. The link rotation is counteracted by 3. Design & Simulation
two extension springs anchored to the solid
frame resulting in an instrumented flexible joint. The rotary flexible joint is an ideal
The spring anchor points are adjustable to three experiment intended to model a flexible joint on
locations to obtain various stiffness constants. a robot or spacecraft. This experiment is also
Three types of springs are supplied with the useful in the study of vibration analysis and
system resulting in a total of 9 possible stiffness resonance. The purpose is to design a state-
values. The link is also adjustable in length thus feedback controller that will place the tip of the
allowing for variations in inertia. This system is arm (θ + α) at a given command. Here
similar in nature to the control problems requirement is to design a full state feedback
encountered in large geared robot joints where controller using the LQR method to calculate
flexibility is exhibited in the gearbox. the gains.
COS0203-1
The first part of this will be to design a state- The formulation of the problem follows.
feedback controller that will meet the required Given the linear system
specifications. The method of calculating the .
feedback gains will be the LQR function in x Ax Bu

MATLAB's control systems toolbox. The y Cx
MATLAB LQR function returns a set of Find a control function u(t) that will minimize
calculated gains based on the system matrices A the cost function J given by
& B and the design matrices Q & R. In this
section begin the iterative design process by 1
varying Q & R and taking notice on the effect J ( x ' Qx u ' Ru)dt
those changes on the simulated system response 20
and the closed-loop poles (eigen values).Fix the The function inside the integral is a quadratic
Q matrix to be only diagonal. This will allow form and the matrices Q and R are usually
you to vary 4 parameters for Q (q1,q2,q3,q4) symmetric. It is assumed that R is positive
and one parameter for R (r1) (R in this case is definite. (i.e. it is symmetric and has positive
scalar as there is only 1 input and therefore 1 eigen values) and Q is positive semi
control signal). definite(i.e. it is symmetric and its eigenvalues
Q = diag ([10 100 1 1]) & R = 1 are nonnegative).These assumptions imply that
This model is a simulation of the Flexible the cost is nonnegative, so its minimum value is
Joint system with a feedback law u = -kx. The zero. For the cost function to achieve its
gain vector k is set by the LQR function. The minimum value both x and u must go to zero.
largest element of Q should be the one that is This type of control problem is called a
associated with α.Notice that the largest value in regulator problem. When the state vector is to
Q is q2. The default Q & R values are track nonzero values, J can be redefined to
Q = diag ([10 100 1 1]) & R = 1. create an optimal servo mechanism (tracking)
problem. Regulator behavior is important for
control systems of many types (e.g., attitude
control of satellites or spacecraft, where a zero
4. Basic controllers
reference should be maintained in spite of
An automatic controller compares the actual disturbances).
values of plant output with the reference input
through feedback elements and produces an 6. Properties of the LQR design
actuating signal, that actuates the control
LQR has many desirable properties. Among
elements thus reducing the deviation to zero as
them are good stability margins and sensitivity
to a small valued. The basic controllers
properties. Most of these properties can be
depending upon the manner in which the control
derived using the return-difference inequality
signal is produced.
derived by Kalman.
5. Linear Quadratic Regulator (LQR)
6.1Industrial Applications
A most effective and widely used technique of
linear control systems design is the optimal Multivariable design based on LQR theory
linear quadratic regulator (LQR). The simplified and the Kalman filter accounts for thousands of
version of the LQR problem is to find the real-world applications.
control such that the performance index is Geostationary satellite tracking
minimized for the system.
COS0203-2
Zinc Coating-Mass estimation in servomotor's position signal (θ) should be

continuous galvanizing lines connected to encoder channel #0.
Roll-Eccentricity estimation in thickness b. Analog Output channel #0 should be
control for rolling mills connected to the UPM (Amplifier) and from the
Vibration control in flexible structures amplifier to the input of the servomotor. This
system has one input (Vm) and two outputs (θ
7. Fuzzy Logic Controller & α).
1. Click on start then click on wincon server.
The tasks of a controller are more complex 2. Click on start then click on wincon client.
than explained earlier for majority of the 3. Click on start then click on MATLAB and
systems. In such situations, a fuzzy controller run the setup
can be developed to control the system. Fuzzy file. This MATLAB script file will setup all the
logic control is proved to be effective for specific
complex, non-linear and imprecisely defined System parameters and will set the system
process for which standard model based control state-space
techniques are impractical. Matrices A, B, C & D.The MATLAB LQR
In most of the systems the changes in function
parameters due to nose and major disturbances returns a set of calculated gains based on the
do occur. In such cases the performance of PID system
controller is not that good. Better control matrices A & B and the design matrices Q &
techniques are needed to improve the system R.
performance. 4. Now run the file by click on the “run” in the
As fuzzy logic controller is strongly based on command window or pressing F5.Then
the concepts of fuzzy sets and relations and calculated gains are displayed in the
linguistic variables, the advantages of fuzzy MATLAB window.
logic includes quicker development cycles and 5. Open simulink in matlab window, then run
superior performance. Basically, conventional the simulink file. This model is a simulation of
control systems have five development steps: the Flexible Joint system with a feedback law u
developing a mathematical model of system, = -kx.The gain vector k is set by the LQR
developing a mathematical model for a function. This model has the I/O connection
controller, analyzing the equations, converting blocks linking to the physical plant as well as a
the model to a circuit and building the circuit. simulated block to compare real and simulated
Fuzzy logic, on the other hand has just three: results
developing a fuzzy model, simulation and 6. Then in the simulink model (fig 1.1) set the
compilation. amplitude as 20 by double clicking on it.
7. Fig 1.1 above depicts the Rotary Flexible
8. Simulations & Results Joint controller developed for this experiment.
Notice that both the actual system and an exact
8.1 Simulation Of ROTFLEX With LQR simulation are running in parallel thus allowing
Procedure for doing the experiment comparing the actual and simulated results.
Before “Building” this controller, make sure
Before starting the experiment check the that the state-feedback gain k is set according to
following: final design parameters. Now proceed to
a. The arm deflection signal (α) should be “Build” the controller through the WinCon
connected to encoder channel #1 and the menu. After the code has compiled, start the
controller through WinCon and open up two
COS0203-3
Scopes, for theta (measured and simulated

together). Then measure the rise time, steady
state error of measured and simulated theta
Fig1.2 Simulated response of simulated theta

with LQR
Fig 1. 1Circuit diagram of Flexible

Joint Controller with LQR
Fig 1.3 Simulated response of measured theta

with LQR
9. Simulation Of ROTFLEX With Fuzzy
Logic Controller.
COS0203-4
Fig 1.1 is modified as fig 1.4 to control with

fuzzy logic controller.
Fig 1.4 Circuit diagram of Flexible Joint Controller using fuzzy logic controller
COS0203-5
9.1 Procedure for doing the experiment membership functions and for each membership
functions define a name. Then close it.
Before starting the experiment check the NOTE: here first 11 rules then 15 rules are used
following: to observe how FLC varies for different rules and
a. The arm deflection signal (α) should be to improve the simulation results.
connected to encoder channel #1 and the In FIS editor double click on “mandani”, then a
servomotor's position signal (θ) should be rule editor will appears as below In this rule editor
connected to encoder channel #0. edit the rules as required. Here first there are 11
b. Analog Output channel #0 should be connected rules (then 15 rules for better results), Then save
to the UPM (Amplifier) and from the amplifier to and close the FIS editor by giving a file name.
the input of the servomotor. This system has one Then go to file in the FIS editor import the .FIS
input (Vm) and two outputs (θ & α). file from disk and export the .FIS file to
1. Click on start then click on wincon server. workspace. In mat lab window, in workspace
2. Click on start then click on wincon client. directory check whether .FIS named file appears
3. Click on start then click on MATLAB then in or not. If the file appears then experimental
MATLAB window run the setup file. This procedure is in correct way.
MATLAB script file will setup all the specific Then run simulink model .This model has the I/O
system parameters and will set the system state- connection blocks linking to the physical plant as
space matrices A, B, C & D. The MATLAB LQR well as a simulated block to compare real and
function returns a set of calculated gains based on simulated results
the system matrices A & B and the design Then in the simulink model (fig 1.4) set the
matrices Q & R. amplitude as 20 by double clicking on it. For gains
4. Further in the script file, there is a section that before and after fuzzy logic controller with
will set User-defined controller specification viewer, set gain=0.04 and gain=13.Double click
section set Student_Config = 'MANUAL’. Save on fuzzy logic controller with rule viewer in fig
the file, run it. Check whether the file runs or not 1.4 .Here type the FIS editor file name, and then
by checking whether design click on ok. Now proceed to “Build” the controller through
Specifications file appear in the workspace the WinCon menu. After the code has compiled, start the
controller through WinCon and open up two Scopes, for
directory of mat lab window .if appears, Then theta (measured and simulated together).Then measure the
minimize it. rise time, steady state error of measured theta and the values
5. Click on start in the mat lab window on the are tabulated.
bottom left corner of computer screen, then
toolboxes, then in fuzzy logic click on the FIS
editor.In FIS editor window click on New then on
Mandani model.
6. In FIS editor double click on “input”, then a
membership editor will appears as below .In this
click on edit and mention how many membership
functions are present. Here there are 11(later 15)
membership functions
and for each membership functions define a name.
Then close it.
7.In FIS editor double click on “output”, then a
membership editor will appears as below In this
click on edit and mention how many membership
functions are present. Here there are 11 (later 15)
COS0203-6

Fig 1.5 Simulated response of simulated theta (b) 15 rules in rule editor
10 Conclusion
The following table is the comparison between

LQR and Fuzzy logic controller.
Controller Rise time Steady state error
Linear Quadratic
770 ms - 11 %
Regulator (LQR)
Fuzzy logic
240 ms + 13 %
controller
The comparison of performance of real time

system with simulation is done by simultaneously
observing measured and simulated angular
position of flexible joint. It is found that the
response is improved with fuzzy controller as
(a) 11 rules in rule editor compared to LQR.
11 References
[1]. Fuzzy control -Kevin M. passion Stephen

yurkovich.
[2]. Fuzzy Logic (intelligence control &

information) -John Yen & Reza Langari.
[3]. Automatic control systems - Kuo
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[4]. Control system Engineering – I.J.Nagrath -

M.Gopal
[5]. Modern control Engineering – Katsuhiko

ogata
6[]. Control system design -Graham C.Goodwin,

Stefan F.Graebe -Mario
E.Salgado-Pearson education
[7]. Design of feedback control system 4th edition

Oxford Indian edition Stefani-Shahian -
Savant –Hostetter
[8]. SRV02-(E; EHR) (T)-Rotary Servo Plant

(Quanser) - User Manual
[9]. SRV02-Series-ROTFLEX – Rotary Flexible

Joint (Quanser)- User Manual
[10]. SRV02-Series-Rotary Experiment # 4-

Flexible Joint (Quanser)-Student Handout.
COS0203-8
Fuzzy Logic Control for a Speed Control of

Induction Motor using Pulse Width Modulation

Abstract
This paper presents design and implements a voltage be time consuming as well. Furthermore, an optimal fuzzy
source inverter type space vector pulse width modulation logic controller can not be achieved by trial-and-error.
(PWM) for control a speed of induction motor. This These drawbacks have limited the application of fuzzy
scheme leads to be able to adjust the speed of the motor logic control. Some efforts have been made to solve these
by control the frequency and amplitude of the stator problems and simplify the task of tuning parameters and
voltage, the ratio of stator voltage to frequency should be developing rules for the controller. These approaches
kept constant. The fuzzy logic controller is also mainly use adaptation or learning techniques drawn from
introduced to the system for keeping the motor speed to be artificial intelligence or neural network theories.
constant Application of fuzzy logic control for the control a speed
When the load varies. The experimental results in testing induction motor using space vector pulse width
the 0.22 kW induction motor from no-load condition to modulation is quite new [5].
rated condition show the effectiveness of the proposed This paper presents design and implements a voltage
control scheme. source inverter type space vector pulse width modulation
Keywords—Fuzzy logic control, space vector pulse for control a speed of induction motor. The paper also
width modulation, induction motor. introduces a fuzzy logic controller to the SVPWM in
order to keep the speed of the motor to be constant when
1. Introduction the load varies. The speed motor control system is set up
for testing.
The aim of this paper is two-fold. The first is shown the
The Pulse Width Modulation (PWM) method is an dynamics response of speed with design the fuzzy logic
advanced, computation-intensive PWM controller to control a speed of motor for keeping the
method and possibly the best among all the PWM motor speed to be constant when the load varies. The
techniques for variable frequency drive application. second aim is shown the phase voltage and line current
Because of its superior performance characteristics, it has waveforms.
been finding widespread application in recent year. The
PWM methods discussed so far have only considered
implementation on half bridges operated independently, 2. Inverter for ac drives
giving satisfactory PWM performance. With a machine
load, the load neutral is normally isolated, which causes 2.1 Space Vector Pulse Width Modulation
interaction among the phases.
This interaction was not considered before in the PWM The SVPWM method considers this interaction of the
discussion [1]-[4]. Recently, Fuzzy logic control has phase and optimizes the harmonic content of the three
found many applications in the past decade. This is so phase isolated neutral load as shown in Fig. 1.
largely because fuzzy logic control has the capability to
control nonlinear, uncertain systems even in the case
where no mathematical model is available for the
controlled system. However, there is no systematic
method for designing and tuning the fuzzy logic
controller.
This means that if the a reliable expert knowledge is not
available or if the controlled system is too complex to
derive the required decision rules, development of a fuzzy Fig. 1 Voltage source inverter type 3 phase
logic controller become time consuming and tedious or
sometimes impossible. In the case that the expert
knowledge is available, fine-tuning of the controller might
COS0204-1
The three phase sinusoidal and balance voltages

given by the equations as follows:
2.2 Simulink Implementation
To implement the algorithm in Simulink, we shall first

assume that the three-phase voltages at the stator
Are applied to the three phase induction motor, terminals must have the following from Eqs. (1)-(3), the
using Eq. (4). A three phase bridge inverter, From Fig. 1, frequency f and the amplitude m V are variables.
has 8 permissible switching states. Table I gives summary However, theV f control algorithm implies that there is a
of the switching states and the corresponding phase-to- relationship between the amplitude of the voltage and the
neutral frequency, i.e. the ration between the two quantities is
voltage of isolated neutral machine. constant [2],[3].
3. Design Of A Fuzzy Logic Controller
In drive operation, the speed can be controlled indirectly

by controlling the torque which, for the normal operating
region, is directly proportional to the voltage to
frequency.
The speed is controlled by fuzzy logic controller whose
output is the reference current of the inner dc current
controller. The torque is controlled by varying the dc
current. The drive performance of SVPWM is improved
by employing 2 sets of fuzzy logic controllers. From Fig.
4, one set of fuzzy logic controller is used in the inner
loop for controlling the torque of the motor which is
proportional to DC link current Idc, and another set is
COS0204-2
used in the outer loop for controlling the actual motor

speed .
Therefore, the fuzzy logic controllers in the paper will

result the higher accuracy in controlling the v/f/F. A fuzzy
logic controller is proposed to control the speed of the
motor to be constant when the load varies. The speed
error e(k) and the change of speed error ce(k) are
processed through the fuzzy logic controller whose output
is the voltage command * dc I . The current error is
usually processed by current regulator to produce a
control frequency *e ù . This control frequency adjusts the
v/f of SVPWM such that the desired speed of the motor
can be obtained. In the design of a fuzzy logic controller,
seven membership functions were used for both error and
change of error. Membership functions were constructed
to represent the input and output value. The fuzzy logic
controller consists of three stages: fuzzification, control
rules evaluation and defuzzification. Consider the fuzzy
speed control system , where the input signal are e and ce
and the output signal is du, as explained before. Fig. 5
shows the fuzzy sets and corresponding triangular MF
description of each signal. The fuzzy sets are as follows :
Z = Zero, PB = Positive Big, NB = Negative Big, PS =
Positive Small, NS = Negative Small, NVS = Negative
Very Small, PM = Positive Medium NM = Negative
Medium, PVS = Positive Very Small [6].
The universe of discourse of all the variables , covering

the whole region , is expressed in per unit values. All the 4. Experimental Setup
MFs are asymmetrical because near the origin, the signals
require more precision. There are seven MFs for e(pu) The experimental set-up, illustrated in Fig. 7,
and ce(pu) signal , whereas there are nine MFs for the implemented to a three phase induction motor which has
output. All the MFs are symmetrical for positive and the detail as follows: 0.22 kW, 230/400V, 1.03/0.59 A,
negative values of the variables. Fig. 6 shows the 50Hz, P.F 0.8 lag and 1410 rpm. The speed of motor
corresponding rule table for the speed controller. The top ranging from 0 to 1500 rpm is measured by incremental
row and left column of the matrix indicate the fuzzy sets encoder 3600 pulse/rev. All current and voltage are
of the variables e and cue, respectively , and the MFs of measured using LEM sensors, and both of them are then
the output variable du(pu) are shown in the body of the transformed to be a voltage ranging from 0 to 10 volts
matrix. There may be 7*7 = 49 possible rules in the which will be the input of A/D respectively. This scheme
matrix , where a typical rule reads as: IF e(pu) is PS AND enables the user to adjust the speed of the motor by the
ce(pu) is NM THEN du(pu) is NS. Some blocks in the duty cycle of the V/F operating in SVPWM mode. The
rule table may remain vacant giving less number of rules. performances of a linear control technique implemented
on a fuzzy logic controller to control speed of motor using
dSPACE the real-time DS1104’TMS3204 DSP Controller
COS0204-3
Board along with the Matlab/Simulink tool with sampling

time 1 ms as shown in Fig. 7 [7]-[11].
4.1 Step Response of Speed
To evaluate the performance of the system, a series of

measurements has been accomplished. The measurements
can be divided in two groups: the first is a step change of
the speed reference at constant load torque and the second
is a step change of the load torque at constant speed
reference. Figs. 8- 9 as shown performance of the fuzzy
logic controller with a fuzzy tuning rule based on step
response of speed control. To be tested time response of
speed, duty cycle and line current via the step change of
speed reference 300 to 1200 rpm with the load torque
equal to zero and equal to rated respectively. Figs. 10-11
as shown time response of speed, duty cycle and line
current via the step change of the load torque at constant
speed reference 600 and 1200 rpm respectively.
From the results tested the performance of

controller by a step change of the speed reference at
constant load torque as shown in Figs. 8-9, it’s found that
the Rise time 2 r p
Maximum overshoot 12 p
load torque at constant speed reference as shown in Figs.
10-11, it’s found that the Settling time 15 s
experimental results obtained, the proposed fuzzy logic
controller can keep the motor speed to be constant at the
speed ranging from 300 to 1200 rpm. Figs. 12-14 as
shown steady state error of speed at reference speed 300,
600 and 1200 rpm rated load respectively. It’s found that
it have state error ±10 rpm.
COS0204-4
4.2. The Phase Voltage and Input Line Current

Waveforms
The line voltage and line current are measured;

they are measured by using LEM sensors with ratio
Amp/volt and ratio 100 V/volt. All data of signal are kept
on of digital storage oscilloscope. The waveforms of
SVPWM, phase voltage an V and line current a I are
measured digital storage oscilloscope as shown in Figs.
15-20.
COS0204-5
in testing the 0.22 kW induction motor from zero load

condition to rated condition, it’s found that the speed of
the induction motor can be controlled. In addition, the
motor speed to be constant when the load varies.
References
[1] Andrzej M. Trzynadlowski, Introduction to Modern Power

Electronics, Copyright© 1998 by John Wiley & Sons, Inc. All
rights reserced.
[2] Bimal K.Bose, Modern Power Electronics and AC Drives, ©

2002 Prentice Hall PTR.
[3] W. Leonharn, Control of Electrical Drives, Springer-Verlag

Berlin Heidelberg, New York, Tokyo, 1985.
[4] F. Ashrafzadeht, E.P. Nowickit, and J.C. Samont, “A Self-

Organizing and Self-Tuning Fuzzy Logic Controller for Field
Oriented Control of Induction Motor Drives”, 0-7803-3008-0/95
$4.00© 1995 IEEE, pp. 1656-1662.
[5] Zdenko Kovaccic and Stjepan Bogdan, Fuzzy Controller

design Theory
and Applications, © 2006 by Taylor & Francis Group.
International, 2002.
[6] Hoang Le-Huy and Maher Hamdi, “Control of Direct-Drive

DC Motor by Fuzzy Logic”, 0-7803-1462-x/93$03.00 © 1993
IEEE, pp. 732-738.
5. Conclusion
The Fuzzy logic controller is applied to speed signal

model of motor and is then downloaded to dSPACE
through Simulink. The experimental results are analyzed
COS0204-6
Optimal Placement Techniques of FACTS Controllers

in Multi-Machine Power System Environments: A
Literature Survey
Bindeshwar Singh, N. K. Sharma and A. N. Tiwari
Abstract- This paper presents exhaustive review of various dynamic optimization programming algorithms [44], hybrid
methods/techniques for optimal choice and allocation of optimization programming algorithms [45], bellmann’s
FACTS controllers. Authors strongly believe that this optimization principle [46], decomposition coordination
survey article will be very much useful to the researchers methods [47]-[48], curved space optimization techniques
for finding out the relevant references in the field of [104]. The various artificial intelligence (AI) based methods
placement of FACTS Controllers. proposed in literature includes genetic algorithms (GA) [49]-
Index Terms- Flexible AC Transmission System (FACTS), [64],[105]-[106], [110], tabu search algorithms [65],[66],
FACTS Controllers, Placements, Voltage Stability. simulated annealing (SA) based approach [69]-[70],[107],
particle swarm optimization (PSO) techniques [71]-[73],[80],
I.INTRODUCTION artificial neural network (ANN) based algorithms [74]-[76],
ant colony optimization (ACO) algorithms [77]-[78], graph
search algorithms [79], fuzzy logic based approach [81]-[82],
T HE drive towards deregulated environment may result in
simultaneous installation of different FACTS controllers
in power system. These multiple FACTS controllers have the
other techniques such as norm forms of diffeomorphism
techniques [83], evolution strategies algorithms [84],[86],
improved evolutionary programming [68], gravitational
potential to interact with each other. This interaction may
optimization techniques [85], benders decomposition
either deteriorate or enhance system stability depending upon
techniques [42], augmented Lagrange multiplier approach
the chosen controls and placement of FACTS controllers.
[67], hybrid meta-heuristic approach [102], heuristic and
Hence there is a need to study the interaction between the
algorithmic approach [108], energy approach [109].
FACTS controllers.
This paper is organized as follows: Section 2 presents the
The various interactions can potentially occur between the
review of various techniques/methods for placements of
different FACTS controllers, as well as, between FACTS
FACTS controllers in multi-machine power systems. Section 3
controllers and Power System Stabilizers (PSS) in a multi-
presents the summary of the paper. Section 4 presents the
machine power system environment. These likely interactions
conclusions of the paper.
have been classified into different frequency ranges and
various interaction problems between FACTS controllers or II. CLASSIFICATIONOF FACTS CONTROLLERS
FACTS to PSS’s from voltage stability/ small signal stability ALLOCATION TECHNIQUES
viewpoint are presented in [1]-[2]. Three broad categories of allocation techniques for
There are several methods proposed in literatures [3]-[86], determining best suited location of FACTS controllers are
[87]-[111], for placement of FACTS controllers in multi- sensitivity based methods, optimization based method, and
machine power systems from different operating conditions artificial intelligence based techniques [3]-[5].
viewpoint. References [3]-[5], classify three broad categories
such as a sensitivity based methods, optimization based A. Sensitivity Based Methods
method, and artificial intelligence based techniques for There are various sensitivity based methods such as a modal
placement of FACTS controllers from different operating or eigen-value and index analysis. An eigen-value analysis
conditions viewpoint in multi-machine power systems. The based techniques has been proposed in [6] for the selection of
various sensitivity based methods have been proposed in parameters of stabilizers in multi-machine power system to
literatures includes eigen-value analysis based methods [6]- enhance the damping of the power system oscillations.
[12], modal analysis techniques [13]-[15], index methods [16]- Reference [7], presents an eigen-value analysis based
[23], residue-based methods [24]-[25],[43],[98]-[99], and algorithms such as a participation factor method for
other sensitivity based methods [26]-[37],[53],[87]-[97],[111]. identification of optimum location of power system stabilizers
The various optimization based methods have been proposed to enhance the damping of power system oscillations. Many
in literatures that includes non-linear optimization literatures shows the existing methods of identifying the
programming techniques [38],[39],[103], mixed integer- optimum sites for installing PSSs in multi-machine power
optimization programming techniques [40]-[42],[100]-[101], systems are restricted to the sequential PSS application, which
COS0205-1
considers the enhancement of damping of just one critical controllers in power system to enhance the system stability
electro-mechanical modes at a time and the eigen structure [24]-[25]. An efficient algorithm for the solution of two
analysis of the open loop system, which does not take the important problems in the area of damping control of electro-
control matrix (the B matrix in the linearized model dX/dt= mechanical oscillations in large scale power systems has been
AX+BU for power system) into considerations. An eigen- proposed in [26]. The proposed algorithms allow the
value analysis based techniques has been proposed for determination the most suitable generators for installing power
identifying the optimum sites for installing power system system stabilizers and the most suitable buses in the system
stabilizers (PSSs) in multi-machine power systems in [8]. The for placing SVC in order to damp the critical modes of
advantages of this proposed method is that it can identify the oscillation. A sensitivity based approach has been proposed
optimum sites for installing PSS so that several electro- for placement of FACTS controllers in open power markets to
mechanical modes are damped out simultaneously and it takes reduce the flows in heavily loaded lines, resulting in an
both the eigen structure of the open loop system and the increased loadability, low system loss, improved stability of
control matrix into consideration. Reference [9], suggests an the network, reduced cost of production and fulfilled
eigen-value analysis based approach for identifying the most contractual requirement by controlling the power flows in the
effective FACTS controllers, locations, types and ratings that network in [27]-[28] . A sensitivity based approach called Bus
increase asset utilization of power systems. Reference [10], Static Participation Factor (BSPF) has been proposed for
uses participation factor method has been suggested for the determine the optimal location of static VAR compensator
critical mode are used to determine the most suitable sites for (SVC) for voltage security enhancement in [29]. A sensitivity
SVC (Static Var Compensator) for system reinforcement. In based approach has been proposed to determine the placement
[11]-[12], an eigen-value analysis based approach has been of TCSC and UPFC for enhancing the power system
proposed for find the optimal location and rating of FACTS loadability [30]. In [31], a sensitivity analysis method has been
controllers (Static Var Compensator (SVC) and Thyristor proposed for determine the optimal placement of static VAR
Controlled Series Controller(TCSC)) and a continuation compensator (SVC) for voltage security enhancement in
power flow is used to evaluate the effects of SVC and TCSC Algerian Distribution System. In [32], a sensitivity analysis
devices on power loadability). In [13] , a modal analysis and evolutionary programming techniques has been proposed
algorithm has been suggested for allocation and control of for determine the optimal placement of UPFC in power system
FACTS devices for steady-state stability enhancement of large from the operational planning viewpoint. Sensitivity analysis
scale power system. A modal analysis algorithm has been is superior when compared to the others as sensitivity analysis
suggested for placement of SVCs and selection of stability gives the best possible installation location. References [33]-
signals in power systems environments [14]. A new eigen [37], presents a sensitivity based approach has been proposed
solution free method of modal control analysis for the for optimal placement of UPFC to enhance voltage stability
selection of the robust installing locations and feedback margin under contingencies. Reference [87], suggests a
signals of FACTS based stabilizers in large–scale power normal form analysis approach based on sensitivity indices is
systems is presented in [15]. An index based approach known used for sitting power systems stabilizers (PSS) in power
as a Location Index for Effective Damping (LIED) method has systems network. Reference [88], suggested a Trajectory
been proposed for identifying the location of SVC and a Sensitivity Analysis (TSA) technique for the evaluation of the
Variable Series Capacitor (VSrC) in large-scale power effect of TCSC placement on transient stability. A sensitivity
systems for damping effectively in [16]. A structure based technique is used for placement of Static Synchronous
preserving energy margin sensitivity based analysis has been Series Compensator (SSSC) in power system network in [89].
addressed for determine the effectiveness of FACTS devices Sensitivity based screening technique for greatly reducing the
to improve transient stability of a power system in [17]. A computation involved in determining the optimal location of a
controllability index method has been proposed for select the Unified Power Flow Controller (UPFC) in a power system
input signals for both single and multiple FACTS devices in [90]. A sensitivity analysis and evolution programming
small and large power systems for damping inter-area technique has been proposed for placement of UPFC in a
oscillations in [18]. Different input output controllability power system in [91]. In [92], a sensitivity based technique
analysis are used to asses the most appropriate input signals used for determine the minimum amount of shunt reactive
(stability signals) for the SVC, the Static Synchronous Series power (VAr) support which indirectly maximizes the real
Compensator (SSSC) and the Unified Power Flow Controller power transfer before voltage collapse is encountered.
(UPFC) for achieving good damping of inter-area oscillations. Sensitivity information that identifies weak buses is also
A new method called the Extended Voltage Phasors Approach available for locating effective VAr injection sites. A
(EVPA) has been suggested for placement of FACTS sensitivity based technique is used for determine optimal
controllers in power systems for identifying the most critical placement of Static Synchronous Compensator (STATCOM)
segments/bus in power system from the voltage stability view and Unified Power Flow Controllers (UPFC) to enhancement
point in [19]. In [20]-[23], an index based method has been of Dynamic Available Transfer Capability (ATC) under
addressed for determine the suitable locations of FACTS different contingencies in New England System [93]. A
devices in power system environments. A residues based sensitivity factor based approach has been used in [94] for the
approach has been proposed for allocation of FACTS optimal placement of the TCSC to minimize the congestion
COS0205-2
cost. In [95], a second-order sensitivity analysis technique constraints in [41]. A mixed integer optimization
used for optimal location of SVC and TCSC in power system. programming algorithm has been proposed for allocation of
An eigen-value sensitivity based approach has been used for FACTS controllers in power system for security enhancement
location and controller design of TCSC to enhance damping against voltage collapse and corrective controls, where the
power system oscillations [96]. In [97], a new sensitivity control effects by the devices to be installed are evaluated
factor, called System Loading Distribution Factor is used for together with the other controls such as load shedding in
determine the optimal location of UPFC in power system. A contingencies to compute an optimal VAR planning [42]. In
residues factor method has been used for determination of [100], a mixed integer non-linear optimization programming
optimal location of the TCSC device to damp out the inter- algorithm is used for determine the type, optimal number,
area mode of oscillations [98]. In [99], a residues method optimal location of the TCSC for loadability enhancement in
based on sensitivity analysis technique is used for determine deregulated electricity markets. A mixed integer optimization
optimal location of the SVC to enhance the damping power programming algorithm has been used for optimal location of
system oscillations. A new approach based on sensitivity TCSC in a power system in [101].
indices has been used for the optimal placement of various
types of FACTS controllers such as TCSC, TCPAR and SVC 3. Dynamic Programming (DP) techniques
in order to minimize total system reactive power loss and Oliveira et al. suggested a dynamic optimization programming
hence maximizing the static voltage stability in [111]. Magaji algorithm for allocation of FACTS devices in hydrothermal
and Mustafa et al. [43] has been suggested a residue factor systems in order to minimize the expected thermal generation
approach for optimal location of FACTS devices for damping costs and the investments on FACTS devices in a pre-
oscillations of power systems. S. N. Singh and I. Erlich et al. specified time interval [44]. Chang and Huang et al. showed
[53] proposed for locating UPFC for enhancing power System that a hybrid optimization programming algorithm for optimal
loadability. placement of SVC for voltage stability reinforcement [45]. In
B. Optimization Based Techniques [46], a bellmann’s optimality principle has been proposed for
optimal sectionalizing switches allocation in distribution
This section reviews the optimal placement of FACTS networks and also determines the optimal number of
controllers based on various optimization techniques such as a automatic sectionalizing switches devices. Lie and Deng et al.
linear and quadratic programming, non-linear optimization has addressed a decomposition coordination technique for
programming, integer and mixed integer optimization optimal FACTS devices allocation in power system economic
programming, and dynamic optimization programming. dispatch [47]. Zuwei and Lusan et al. presented review on the
1. Non-Linear Optimization Programming (NLP) techniques current status on the optimal placements of FACTS devices in
power systems for enhances the damping of power system
When the objective function and the constraints are non-linear, oscillations [48]. Orfanogianni and Bacher et al. suggested an
it forms non-linear programming (NLP). The difference optimization-based methodology is used for identify key
between NLP and Linear Programming (LP) is analogous to locations of TCSC and UPFC include the nonlinear constraints
the difference between a set of solving non-linear equations of voltage limitation, zero megawatt active power exchange,
and a set of solving linear equations. In most of the NLP voltage control, and reactive power exchange in the ac
methods, the approach is to start from an initial guess and to networks [103]. In [104], Curved Space Optimization (CSO)
determine a descent direction in which objective function programming algorithm is used for allocation of SVC in a
decreases in case of minimization problems [5]. large power system.
Reference [38], suggests a non-linear optimization C. Artificial Intelligence (AI) Based Techniques
programming techniques for assessing the placement of
FACTS controllers in power system to damp electro- This section reviews the optimal placement of FACTS
mechanical oscillations. A non-linear optimization controllers based on various Artificial Intelligence based
programming techniques has been proposed for optimal techniques such as a Genetic Algorithm (GA), Expert System
network placement of SVC controller in [39] and a Benders (ES), Artificial Neural Network (ANN), Tabu Search
Decomposition technique has been used for these solutions. Optimization (TSO), Ant Colony Optimization (ACO)
algorithm, Simulated Annealing (SA) approach, Particle
2. Integer and Mixed –Integer optimization Programming Swarm Optimization (PSO) algorithm and Fuzzy Logic based
(IP & MIP) techniques approach.
Reference [40], a mixed integer linear optimization 1. Genetic Algorithm(GA)
programming algorithm has been proposed for the optimal
placement of TCPST in multi-machine power systems. A A genetic algorithm has been addressed for optimal location of
mixed integer optimization programming algorithm has been phase shifters in the French network to reduce the flows in
proposed for optimal placement of Thyristor Controlled Phase heavily loaded lines, resulting in an increased loadability of
Shifter Transformers (TCPSTs) in large scale power system the network and a reduced cost of production [49]. A genetic
for active flow and generation limits, and phase shifter algorithm has been addressed for optimal location of multiple
COS0205-3
type FACTS controllers in a power system. The optimization of the device, their type, and their rated value of the devices. A
are performed on three parameters; the location of the devices, multi-objective optimal power flow and genetic algorithms
their types and their values. The system loadability is applied used to determine the optimal number and location of UPFC
as measure of power system performance. Four different kinds devices in an assigned power system network for maximizing
of FACTS controllers are used as models for steady state system capabilities, social welfare and to satisfy contractual
studies: TCSC, TCPST, Thyristor Controlled Voltage requirements in an open market power [106]. An energy
Regulator (TCVR) and SVC in order to minimizing the overall approach has been used for the optimal location of FACTS
system cost, which comprises of generation cost and controllers/sensors in large-scale power systems in [109].
investment cost of FACTS controllers [50]. Vijakumar and Reference [110], a genetic algorithm (GA) has been proposed
Kumudinidevi et al. presented a novel method for optimal for optimal choice and allocation of FACTS devices such as
location of FACTS controllers in a multi-machine power UPFC, TCSC, TCPST, and SVC in deregulated electricity
system. The location of FACTS controllers, their type and market.
rated values are optimized simultaneously for the various 2. Tabu Search Algorithm (TS)
FACTS controllers, TCSC and UPFC are considered in order
to minimizing the overall system cost, which comprises of A TS algorithm has been addressed for optimal placement of
generation cost and investment cost of FACTS controllers FACTS controllers such as TCSC, TCPST, UPFC, and SVC
[51]. A stochastic searching algorithm called as genetic in multi-machine power systems [65]-[66]. Reference [102], a
algorithm has been proposed for optimal placement of static hybrid-meta heuristic method based on tabu search in
VAR compensator for enhancing voltage stability in [52]. In conjunction with evolutionary particle swarm optimization
[54], a genetic algorithm (GA) based method has been technique has been proposed for optimal location of UPFC in
proposed for determine the optimal placement of FACTS power system.
controllers in power system with the consideration of
economics and cost effectiveness. In [55], a genetic algorithm 3. Simulated Annealing (SA) Algorithms
(GA) based approach has been proposed for the optimal
References [69], [70], a novel optimization based
choice and allocation of FACTS devices in deregulated
methodology such as a simulated annealing has been
electricity power market is to achieve the power system
proposed for optimal location of FACTS devices such as
economic generation allocation and dispatch in deregulated
TCSC and SVC in order to relive congestion in the
electricity market. The locations of the FACTS controllers,
transmission line while increasing static security margin and
their type and ratings are optimized simultaneously. Reference
voltage profile of power system networks. In [107], the Goal
[56], genetic algorithm (GA) and particle swarm optimization
Attainment (GA) method based on the SA approach is applied
(PSO) has been proposed for optimal location and parameter
to solving general multi-objective VAR planning problems by
setting of UPFC for enhancing power system security under
assuming that the Decision Maker (DM) has goals for each of
single contingencies. A new genetic algorithm (GA) based
the objective functions. The VAR planning problem involves
approach [57] has been addressed for selection of the optimal
the determination of location and sizes of new compensators
number and location of UPFC devices in deregulated electric
considering contingencies and voltage collapse problems in a
power systems. In [58], a novel method such as a genetic
power system.
algorithm has been presented for optimal location of FACTS
controllers in a multi-machine power system. The location of 4. Particle Swarm Optimization (PSO) Algorithms
FACTS controllers, their type and rated values are optimized
simultaneously for the various FACTS controllers such as a In [71], a Particle Swarm Optimization (PSO) algorithm has
TCSC and UPFC are considered. Reference [59], a genetic been addressed for the solution of the Optimal Power Flow
algorithm (GA) has been proposed for location and parameters (OPF) using controllable FACTS controllers to enhance
setting of UPFC for congestion management in pool market economic solution. Rashed et al. suggested a Genetic
model. The planning method such as a micro-genetic Algorithm (GA) and PSO techniques for optimal location and
algorithm (MGA) has been addressed for optimal type parameter setting of TCSC to improve the power transfer
selection and placement of a FACTS device for power system capability, reduce active power losses, improve stabilities of
stabilizing purpose in a multi-machine power system [60]. A the power network, and decrease the cost of power production
heuristic approach using genetic algorithm has been addressed and to fulfill the other control requirements by controlling the
for optimal location of FACTS controllers in multi-machine power flow in multi-machine power system network [72]. A
power systems for enhancing the damping of power system Trinary Particle Swarm Optimization Technique has been
oscillations in [61]-[64]. In [105], a non-traditional proposed for optimal switch placement in distribution systems
optimization technique, a Genetic Algorithm (GA) is for achieving high distribution reliability levels and con-
conjunction with Fuzzy logic (FL) is used to optimize the currently minimizing capital costs can be considered as the
various process parameters involved in introduction of FACTS main issues. A novel three state approaches has been proposed
devices such as a TCSC, Thyristor Controlled Phase Angle for inspired from the discrete version of a powerful heuristic
Regulator (TCPAR), SVC and UPFC in a power system. The algorithm, PSO is developed and presented to determine the
various parameters taken into consideration were the location optimal number and locations of two types of switches
COS0205-4
(sectionalizes and breakers) in radial power systems evolutionary programming technique for optimal location and
automation is an important issue from the reliability and parameters settings of UPFCs to maximize the system
economical point of view [73]. In [74]-[76], an Artificial laudability subject to the transmission line capability and
Intelligence Based Techniques has been addressed for optimal specified voltage level.
placement of FACTS controllers in large scale power system.
In [80], a Particle Swarm Optimization (PSO) technique has III. SUMMARY OF THE PAPER
been addressed for optimal location of FACTS controllers
such as TCSC, SVC, and UPFC considering system The following tables give summary of the paper as:
loadability and cost of installation.
A. Methods/Techniques for Placement of FACTS
5. Ant Colony Optimization (ACO) algorithms controllers
In [77], a methodology has been suggested for placement of 1. Methods/Techniques point of view
sectionalizing switches in distribution networks in the
Methods/Techniques Total No. of % of Literatures
presence of distributed generation sources for reliability Literatures Reviews out of
improvement with consideration of economic aspects. In [78], Reviews out of 106 Literatures
an ACO algorithm has been addressed for the planning 106 Literatures
problem of electrical power distribution networks, stated as a Sensitivity based methods 48 45.28
mixed non-linear integer optimization problem, is solved Optimization based methods 14 13.20
AI-based techniques 44 41.51
using the Ant Colony System (ACS) algorithm. The ACS
methodology is coupled with a conventional distribution 2. Operating Parameters point of view
system load flow algorithm and adapted to solve the primary
distribution system planning problem. A Graph Search Operating Parameters of Power Total No. of % of Literatures
systems Literatures Reviews out of
Algorithm has been addressed for optimal placement of fixed Reviews out of 106 Literatures
and switched capacitors on radial distribution systems to 106 Literatures
reduce power and energy losses, increases the available Damping of power system 16 15.09
capacity of the feeders, and improves the feeder voltage oscillations
profile [79]. Voltage Profile 20 18.87
Security of the power system 02 1.89
Small signal stability, transient 06 5.66
6. Fuzzy Logic (FL) Algorithms stability
Power transfer capability 02 1.89
through the lines
References [81]-[82], A fuzzy logic based approach has been Dynamic performances of 02 1.89
addressed for optimal placement and sizing of FACTS power systems
The loadability of the power 12 11.32
controllers in power systems. In [83], the theory of the normal system network
forms of diffeomorphism algorithm has been addressed for the Others parameters point of view 46 43.39
SVC allocation in multi-machine power system for power
system voltage stability enhancement. Luna and Maldonado et
From above tables it is concluded that the 45.28% of total
al. has been addressed a new methodology is based on the
literatures are reviews based on sensitivity methods, 13.20%
evolutionary strategies algorithm known as Evolution
of total literatures are reviews based on optimization
Strategies (ES) for optimally locating FACTS controllers in a
programming and the 41.51% of total literatures are reviews
power system for maximizes the system loadability while
on AI based techniques regarding with placement of FACTS
keeping the power system operating within appropriate
controllers in multi-machine power systems. It is also
security limits [84]. A Gravitational Optimization (GO)
concludes that the 15.09% of total literatures are reviews
algorithm has been addressed for allocation of SVC in a power
carryout from damping of power system oscillations, 18.87%
system in [85]. Kalyani et al. [86] has been suggested an
of total literatures are reviews carryout from voltage stability,
Evolutionary algorithm for optimal location of UPFC and
1.89% of total literatures are reviews carryout from security of
sequential quadratic programming (SQP) to optimize the
power system, 5.66% of total literatures are reviews carryout
UPFC control settings. In [108], a knowledge and algorithm
from small signal/transient/dynamic stability, 1.89% of total
based approach is used to VAR planning in a transmission
literatures are reviews carryout from power transfer capability
system. The VAR planning problem involves the
through the lines, 1.89% of total literatures are reviews
determination of location and sizes of new compensators
carryout from dynamic performance of power system, 11.32%
considering contingencies and voltage collapse problems in a
of total literatures are reviews carryout from the loadability of
power system. Fang and Ngan et al. [67] suggested an
power system, and 43.39% of total literatures are reviews
augmented Lagrange Multipliers approach for optimal
carryout from other parameters viewpoints.
location of UPFC in power systems to enhances the steady
Finally it is concluded that the maximum research work
state performance and significantly increase the loadability of
carryout from damping of power system oscillations and
the system. Hao et al. [68] has been proposed an improved
COS0205-5
voltage stability point of view regarding with placement of environments to show that the achieve significant
FACTS controllers in multi-machine power systems. improvements in operating parameters of the power systems
such as small signal stability, transient stability, damping of
power system oscillations, security of the power system, less
active power loss, voltage profile, congestion management,
quality of the power system, efficiency of power system
IV. CONCLUSIONS operations, power transfer capability through the lines,
dynamic performances of power systems, and the loadability
In this paper an attempt has been made to reviews, various AI of the power system network also increased. This review also
based optimization methods used for the placement of FACTS shows that installing multiple controllers on the system may
controllers. Even through, excellent advancements have been not improve the dynamic performance due to undesirable
made in classical methods i. e. sensitivity based method, they interactions. The tuning of one controller may affect other
suffer with the following disadvantages: In most cases, controllers and thus lead to unstable conditions. These issues
mathematical formulations have to be simplified to get the should be taken into consideration when designing systems
solutions because of the extremely limited capability to solve with multiple controllers. The implementation of a
real-word large-scale power system problems. They are weak coordinated controller tuning procedure to avoid undesirable
in handling qualitative constraints. They have poor interactions in power systems, and thus improve overall
convergence, may get stuck at local optimum, they can find dynamic performance is under this review.
only a single optimized solution in a single simulation run, Authors strongly believe that this survey article will be very
they become too slow if number of variables are large and much useful to the researchers for finding out the relevant
they are computationally expensive for solution of a large references as well as the previous work done in the field of
power system. placement of FACTS Controllers for the various
Whereas, the major advantage of the AI based optimization methods/techniques for placement of FACTS controllers in
methods is that they are relatively versatile for handling multi-machine power systems. So that further research work
various qualitative constraints. AI methods can find multiple can be carried out.
optimal solutions in single simulation run. So they are quite
suitable in solving multi-objective optimization problems for ACKNOWLEDGMENT
placement FACTS controllers in multi-machine power system. The authors would like to thanks Dr. S. C. Srivastava, and Dr.
In most cases, they can find the global optimum solution. The S. N. Singh, Indian Institute of Technology, Kanpur, U.P.,
main advantages of ANN are: possesses learning ability, fast, India, and Dr. K.S. Verma, and Dr. Deependra Singh, Kamla
appropriate for non-linear modeling, etc. whereas, large Nehru Institute of Technology, Sultanpur, U.P., India, for their
dimensionality and the choice of training methodology are valuables suggestions regarding placement and coordination
some disadvantages of ANN. The advantages of Fuzzy techniques for FACTS controllers form voltage stability, and
method are: Accurately represents the operational constraints voltage security point of view in multi-machine power
and fuzzified constraints are softer than traditional constraints. systems environments.
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Systems, Vol.12, No.4, November1997. University of Gorakhpur, Gorakhpur, U.P., India, in 1999, and M. Tech.
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Unified Power Flow Controller Based on System Loading Technology (IITR), Roorkee, Uttaranchal, India, in 2001. He is now a Ph. D.
Distribution Factors,” Electric Power Components and Systems, Vol. student at Uttar Pradesh Technical University, Lucknow, U.P., India. In 2001,
37, Issue 4, April 2009, pp.441-463 he joined the Department of Electrical Engineering, Madan Mohan
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Device for Damping Oscillations,” ARPN Journal of Engineering and 2002, he joined the Department of Electrical Engineering, Dr. Kedar
Applied Sciences, Vol. 4, No.3, May 2009. Nath Modi Institute of Engineering & Technology, Modinagar,
[99] M. W. Mustafa, Nuraddeen Magaji, and “Optimal Location of Static Var Ghaziabad, U.P., India, as a Sr. Lecturer and subsequently became an
Compensator Device for Damping Oscillations,” American Journal of Asst. Prof. & Head in 2003. In 2007, he joined the Department of
Engineering and Applied Sciences, Vol. 2, No.2, 2009. Electrical & Electronics Engineering, Krishna Engineering College,
[100] Ashwani kumar Sharma,“Optimal Number and Location of TCSC and Ghaziabad, U.P., India, as an Asst. Prof. and subsequently became an
Loadability Enhancement in Deregulated Electricity Markets Using Associate Professor in 2008. Presently, he is an Assistant Professor
MINLP,” International Journal of Emerging Electric Power Systems, with Department of Electrical Engineering, Kamla Nehru Institute of
Vol.5, Issue 1, 2006. Technology, Sultanpur, U.P., India, where he has been since August’2009.
[101] Guang Ya Yang, Geir Hovland, Rajat Mujumder, and Zhao Yang His research interests are in Placement and Coordination of FACTS
Dong, “TCSC Allocation Based on Line Flow Based Equations Via controllers in multi-machine power systems and Power system Engg.
Mixed-Integer Programming,” IEEE Trans on Power Systems, Mobile: 09473795769, 09453503148
Vol.22, No.4, November 2007 Email:bindeshwar_singh2006@rediffmail.com
[102] A hybrid Meta-Heuristic Method for Optimal Allocation of UPFCs,” ,bindeshwar.singh2025@gmail.com
Circuits and Systems, 2009, ISCAS 2009, IEEE International
Symposium , 24-27 May, 2009, pp 1705- 1708. Nikhlesh Kumar Sharma received the Ph.D. in electrical engineering from
[103] Tina Orfanogianni, and Rainer Bacher, “Steady-State Optimization in the Indian Institute of Technology, Kanpur, in 2001. Currently, he is a Director
Power Systems with Series FACTS Devices,” IEEE Trans on Power with, Raj Kumar Goel Engineering College, Pilkhuwa, Ghaziabad, U.P., India,
Systems, Vol.18, No.1, February 2003. where he has been since June’2009. His interests are in the areas of FACTS
control and Power systems.
COS0205-9
Mobile: 09654720667, 09219532281

Email: drnikhlesh@gmail.com
A.N.Tiwari received the Ph.D. in electrical engineering from the Indian

Institute of Technology, Roorkee, in 2004. Currently, he is an Asst. Prof. with
Department of Electrical Engineering, Madan Mohan Malviya Engineering
College, Gorakhpur,U.P., India, where he has been since June’1998. His
interests are in the areas of Electrical Drives and Application of Power
Electronics.
Mobile: 09451215400
Email:amarndee@reffimail.com
COS0205-10
Fuzzy Logic and Rule Based Systems:
Research Issues & Challenges
Praveen Kumar Shukla*, Surya Prakash Tripathi**
Abstract – In real world computing environment, the discourse and analysis are associated with information
information is not complete, precise and certain, ,which is or is allowed to be imperfect.
making very difficult to derive an actual decision. To 4. Any formal system can be fuzzified.
deal with processing and modeling of such information, Rule Base Systems [4] are highly applicable in
fuzzy techniques are applied to exercise the proper decision making, control systems and forecasting. To deal
conclusion. This paper focuses on the basics of Fuzzy with imprecise, uncertain and inexact real world
Logic and its application in Rule Based Systems to make knowledge, in rule based systems, fuzzy techniques are
them capable to handle the real world problems. Also, used. Fuzzy logic is the way to represent the complex
different research issues associated with FRBSs have situations in terms of simple natural languages.
been discussed. This paper introduces the Fuzzy Rule Based Systems
(FRBS) and different research issues associated with
Keywords – Fuzzy Logic (FL), Fuzzy Sets, Linguistic them. In section II, the basic mathematical concept of the
Variables, Control Systems, Fuzzy Rule Based Systems Fuzzy Logic has been introduced. Section III introduces
(FRBS). the two basic types of FRBS, Mamdani FRBS and TSK
I. INTRODUCTION FRBS. In section IV, authors revisited five research
Humans are capable to use linguistic information issues with the Fuzzy Rule Based Systems (FRBS). In
precisely in their decision making. Due to imprecise and section V, conclusion and future scope of the research
uncertain nature of the linguistic information, machines issues ha been discussed.
are not capable to use them in decision making processes
using traditional methods. To make the machines II. BASIC CONCEPTS: FUZZY LOGIC
intelligent, like humans in this regard, Fuzzy Techniques
are used. The theory of Fuzzy Logic [5] can be developed using
The idea of the Fuzzy Logic was first introduced by the concepts of Fuzzy Sets similar to how theory of crisp
Professor Lotfi Ahmad Zadeh, at University of Berkeley, bivalent logic can be developed using the concept of crisp
California in his seminal paper “Fuzzy Sets” [1]. sets. Specifically, there exists an isomorphism between
Fuzzy Logic [2, 3] is a form of multi-valued logic sets and logic. In view of this, a good foundation of the
derived from fuzzy set theory to deal with approximate fuzzy sets is necessary to develop the theory of Fuzzy
reasoning. It provides the means to represent and process Logic.
the linguistic information and subjective attributes of the A fuzzy set is a set without clear or sharp (crisp)
real world. Fuzzy Logic is the extension of Boolean Crisp boundaries. Partial membership degree is possible in
Logic to deal with the concept of partial truth. Fuzzy fuzzy sets. In other words, softness is associated with the
Logic is applied in the number of areas, i.e. engineering membership of elements associated.
applications, medical applications, economics and Examples may include, like TEMPERATURE. This
management, industrial applications and many more. It is fuzzy variable may take fuzzy values, like COLD,
also integrated with other soft computing techniques, like COOL, WARM, HOT. A fuzzy value such as ‘WARM’
Neural Network (an approach that mimics the is a fuzzy descriptor.
functionality of human brain), Genetic Algorithms (a
nature inspired search and optimization technique), PSO A. Universe of Discourse
(Particle Swarm Optimization) etc. If universe of discourse is represented by X, is a set
In the early stage of the Fuzzy Logic, a number of that contains every set of interest in the context of a given
misconceptions have been created. Here we are going to class of a problem. The vein diagram of the fuzzy set is
introduce few points about fuzzy logic to make the given in Fig. 1.
concept very clear.
1. Fuzzy logic is not fuzzy.
2. Fuzzy logic is precise.
3. Fuzzy Logic is a precise system of reasoning,
deduction and computation in which the objects of
* Senior Lecturer, Department of Information Technology, Northern
India Engineering College, Lucknow (praveenshuklak@rediffmail.com)
**Associate Professor, Department of Computer Science &

Engineering, Institute of Engineering & Technology (A Constituent Fig. 1 Venn diagram of Fuzzy Set
College of GBTU), Lucknow (tripathee_sp@yahoo.co.in)
1
B. Representation of Fuzzy Sets
There are two representation techniques of fuzzy sets,
membership function method and symbolic
representation.
Membership Function Method

This function gives the grade (degree) of membership
within the set of any element of Universe of Discourse.
The membership function maps the elements of the
universe on to the numerical values in the interval [0, 1].
 A ( x) : X  [0,1]
Here,  A (x ) is the membership function of the fuzzy
set A in the universe X. It is defined as follows:
A  {( x,  A ( x )); x  X ,  A ( x) [0,1]} Fig. 2 Fuzzy Membership Functions
The membership function represents the grade of
possibility that an element x belongs to the set A. It is a E.  -cut of the fuzzy set
possibility function, not a probability function. The  -cut of the fuzzy set A is the crisp set denoted
by A formed by those elements of A whose
Symbolic Representation membership function grade is greater than or equal to a
A fuzzy set may be symbolically represented as specified threshold value  .
follows: A  {x |  A ( x )} . They can also be represented as A  {x  X |  A ( x )   },  [0,1]
a formal series, when the universe is discrete in the The strong  -cut is defined by
nature.
A  {x  X |  A ( x )   },   [0,1]
A   A ( x1 ) / x1   A ( x 2 ) / x 2  ...............
or When  =0 then  -cut will become the support set of
 A ( xi1 ) / xi  ...................... a fuzzy set.
 A ( xi ) Also, the fuzzy AND, OR and NOT operations can be
A  generalized. The generalized FUZZY AND operation is
xiX xi
called Triangular Norm (T-Norm) and generalized
If the universe is continuous then it can be represented FUZZY UNION is called T-Conorm (S- Norm). The
as follows: basic concepts of Fuzzy Set Theory may be studied in [3,
 A ( x) 5].
A 
xX x
III. FUZZY RULE BASED SYSTENS (FRBS)
C. Algebraic Operations on Fuzzy Sets Fuzzy Rule Based Systems (FRBS) constitute an
Let X is a set of objects with elements denoted by x, extension to classical rule based systems, because they
i.e. X={x} deal with IF – THEN rules whose antecedents and
A fuzzy set A in X is characterized by a membership consequents are composed of fuzzy logic statements, in
function  A (x) , which maps each point in X on to the place classical logical ones.
real interval [0.0, 1.0]. As  A (x ) approaches 1.0, the The most common applications of FRBS includes,
Fuzzy Modeling [6], Fuzzy Control [7] and Fuzzy
grade of membership of X in A increases. Classification [8]. In a FRBS, fuzzy logic used to perform
1. A is empty iff for all x,  A (x ) =0.0 the operations like, representation of different form of
2. If A and B are the two fuzzy sets, then A=B iff for knowledge, modeling the interactions and relationships
all x:  A (x ) =  b (x) . that exist among its variables. The main features of the
knowledge captured by fuzzy sets involve handling of
3.  A (x)' =1-  A (x) uncertainty. Due to this, inference methods have become
4. A is contained in B iff  A (x) <= b (x ) more robust and flexible with the approximate reasoning
methods using Fuzzy Logic.
5. C  A  B  AUNIONB , where Linguistic variables and values are used for the
 C ( x)  max( a ( x ),  b ( x )) enhancement of the Knowledge Representation. These
6. C  A  B  AINTERSECTIONB , where variables and their values are defined by the context
 C ( x)  min( a ( x ),  b ( x)) dependent fuzzy sets whose meanings are specified by
gradual membership function.
Two major types of FRBSs proposed are, Mamdani
D. Support Set Fuzzy Rule Based Systems [9] and Takagi-Sugeno-Kang
This is a crisp set of a fuzzy set containing all the FRBSs [10].
elements (in the universe) whose membership grade is
greater than 0. The support set S of a fuzzy set A with A. Mamdani Fuzzy Rule – Based Systems
membership function  A (x ) is given by These are the FRBS with fuzzifier and defuzzifier,
S  {x  X |  A ( x )  0} more commonly these are known as Fuzzy Logic
2
Controllers (FLCc). The major constituents of the inputs to the systems, x0  ( x1 ,.......x n ) . T stands for the
Mamdani FRBS are shown in Figure 3.
conjunctive operator modeled by a t-norm.
Fig. 4 TSK Type Fuzzy Rule Based Systems
IV. RESEARCH ISSUES AND CHALLENGES
Application of fuzzy computing in rule based systems

provides a mathematical platform to deal with
information imprecision in decision making processes.
Several issues have been raised by the researchers in this
field. We are presenting here the burning issues in the
FRBS research.
Fig. 3 Mamdani Fuzzy Rule Based Systems
A. Context Adaptation
1. Knowledge Base: The Knowledge Base (KB) stores Human decisions and perceptions are extremely
the available knowledge about the problem in the form of dependent on the context. Therefore, when Fuzzy Logic
fuzzy “IF THEN” rules. It composed of two main models the human decision making capabilities in
components, Data Base (DB) and Rule Base (RB). Data machines, it is mandatory to apply context in Fuzzy
Base (DB) stores the membership functions of fuzzy sets Systems.
and scaling functions for context adaptation purpose. Context adaptation in Fuzzy Systems has been
Rule Base (RB) stores the FUZZY IF THEN rules for the approached as scaling of fuzzy sets from one universe of
purpose inference and decision making. Multiple rules discourse to another by means of non-linear scaling
can be fired simultaneously for the same input. functions, whose parameters are identified by the data.
2. Fuzzification Interface: It transforms the crisp input The idea behind this research issue is to develop new
data into fuzzy values that acts as input to fuzzy context aware approaches to automatic development of
reasoning process. the fuzzy systems from data. Other objectives includes,
3. Inference System: It infers from the fuzzy input to interpretability oriented adaptation, identification of
several resulting output fuzzy sets according to the context variable, high level of rule identification.
information stored in the Knowledge Base (KB). The abstract idea of this research issue [11] is given in
4. Defuzzification Interface: It converts the fuzzy sets Fig. 4.
obtained from the inference process into a crisp action
that constitutes the global output of the FRBS.
B. TSK Fuzzy Rule Based Systems

A new FRBS model is proposed, based on rules whose
antecedent is composed of the linguistic variables and the
consequent is represented by a function of the input
variables.
IF X1 is A1 and…………and Xn is An THEN
Y=p1.X1+……+pn.Xn+p0
Here, Xi is the system input variable, Y as the output
variable p= (p0, p1,…….., pn) is a vector of real
parameters. Ai is the direct specification of a fuzzy set or
linguistic label that points to a one particular member of a
fuzzy partition of a linguistic variable.
The output of a TSK FRBS using a KB composed of m
rules is obtained as a weighted sum of the individual Fig. 5 Context Adaptation Process
outputs provided by each rule, Yi is given by
im1 hi .Yi In [12], a method of achieving context adaptation by
adjusting an initial normalized fuzzy rule based systems
im1 hi through the use of operators that appropriately change the
Here, i=1, 2,………,m. representation of linguistic variables.
hi  T ( Ai1 ( x1 ),........., Ain ( x n )) is the matching degree A multi-objective evolutionary algorithm based Pareto-
optimum context adapted Mamdani Type FRBSs with
between the antecedent part of the ith rule and the current different trade – offs between accuracy and
interpretability is investigated in [13]. In this proposal, a
3
novel index is proposed based on fuzzy ordering Optimization of the membership function results in the
relations, in-order to provide a measure of improvement of interpretability and accuracy of the fuzzy
interpretability. systems. Also, the scaling functions are optimized to
Other approaches related to context adaptation can be maintain and precise the context related issues in the
studied in [14, 15, 16, 17, 18]. fuzzy rule based systems.
Scaling functions apply the universe of discourse of the
B. Interpretability Accuracy Trade-Off input and output variables to the domain where fuzzy sets
The trade – off between interpretability and accuracy is are defined. Their tuning and adaptation allows the scaled
an important research issue. The definition of the universe of discourse to match the variable range in a
accuracy is straight forward in different applications, but better way. Several parameters are considered for the
the definition of the interpretability is rather problematic purpose of optimization. These may include, 1. Scaling
[19]. Functions, 2. Upper and lower bounds (Linear Scaling
The main purpose is to build fuzzy systems with a user Functions), 3. Contraction/dilation operators (Nonlinear
controllable trade off between accuracy and scaling functions).
interpretability. Interpretability is maintained by the Also the optimization of the membership functions is
structural choices regarding the type of membership an important research issue. The tuning process [32]
functions, rules and inference mechanism. Interpretability slightly adjusts the shapes of the membership functions of
can be maintained or enhanced during the fuzzy systems the preliminary data base definition. Different types of
generation or obtained by post processing of the resulting membership functions are considered for this purpose, i.e.
data driven fuzzy systems [20, 21]. 1. Triangular, 2. Trapezoidal, etc.
A new linguistic rule representation model [22,23] was For the purpose of semantic interpretability of
proposed to perform a genetic lateral tuning of linguistic fuzzy models, an index is proposed [33].
membership functions, based on linguistic 2- tuple Tuning of the membership function and rule selection is
representation model that allow the lateral displacement performed using a multi-objective evolutionary
of a label considering a unique parameter. It provides algorithms.
reduction of search space that eases the derivation of
optimal path. E. Fuzzy Partition Granularity
A user-controllable interpretability-accuracy trade off Obtaining good uniform fuzzy partition granularity
for fuzzy systems has been discussed in [24]. [32] that improves the FRBS behavior is an important
The interpretability- accuracy trade off issue is research issue. The granularity selection plays an
discussed with multi-objective fuzzy genetics-based important role in many characteristics of the FRBS, such
machine learning in [25]. as the accuracy in fuzzy modeling or the smoothening in
fuzzy control. Also, the granularity of the input variables
C. Fuzzy Rule Selection specifies the maximum number of fuzzy rules that may
In high dimensional data problems [26, 27], the compose the Rule Base (RB). So, it has a strong influence
number of rules in the Rule Base grows exponentially as on aspects, like complexity of rule learning,
more inputs are added. Hence, it is required to have a interpretability of the FRBS obtained or its accuracy.
fuzzy rule generation method. It is likely to derive fuzzy The issue of the fuzzy partition granularity is a fuzzy
rule sets, including following types of rules; rule base classification systems are discussed in [35].
Redundant rules: The actions of these rules are covered
by the other rules. V. CONCLUSION & FUTURE SCOPE
Wrong rules: These are ill defined rules and perturb the
systems performance. Modern engineering, medical and business applications
Conflicting rules: These rules worsen the system are requiring to enhance their capability to deal with
performance, when co-existing with other rules in the RB. imprecise and uncertain information, enabling them to
Other solutions for the problem of data dimensionality have a strong reasoning and decision power. It makes
and rule overflow, are rule reduction methods. Two them to handle more complex and linguistic computations
approaches are proposed for this rule reduction: easily and efficiently. All these requirements lead to rapid
Approach 1: To combine the membership functions of development and integration of Fuzzy Logic in control
two or more rules, reducing to a single one’s (Scatter systems.
partition FRBS). In future, authors would like to implement the
Approach 2: To select the fuzzy rules, we get the rule solutions for the problems addressed in the section IV, by
subsets with a good cooperation from the initial RB Evolutionary Computation techniques. The use of multi-
(descriptive and scatter FRBS). objective Evolutionary Algorithms and Memetic Genetic
Several methods can be obtained from selection, with Algorithms will be preferred.
different search algorithms that are providing most
successful combination of fuzzy rules [28,29,30]. REFERENCES
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context adaptation in the calibration of fuzzy sets”, Fuzzy Sets and
Systems, Vol. 88, No 1, pp. 91-97, 1997. Praveen Kumar Shukla is with the department of Information
[16] L. Magdalena, “On the role of context in hierarchal fuzzy Technology, Northern India Engineering
controllers”, International Journal of Intelligent Systems, Vol. 17, No. College, Lucknow. He is working here as a
5, pp. 471-493, 2002. Senior Lecturer and is the research scholar in
[17] R. R. Gudwin, F. A. C. Gomide, W. Pedrycz, “Context the Department of Computer Science &
adaptation in fuzzy processing and genetic algorithms”, International Engineering, Gautam Buddh Technology
Journal of Intelligent Systems, Vol. 13, No. 10-11, pp. 929-948, 1998. University (Formerly UPTU), Lucknow. He is
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Tech. in Computer Science. He is working on
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Genetic Fuzzy Systems. His area of interest
fuzzy rule based systems data base”, Information Science, Vol. 136 (1-
includes, Computational Intelligence
4), pp. 85-107, 2001.
techniques (Fuzzy Logic, Neural Network, Genetic Algorithms) and
[19] R. Mikut, J. Jakel, L. Grall, “Interpretability issues in data based other Nature Inspired Artificial Intelligence Techniques. He has
learning of the fuzzy systems”, Fuzzy Sets and Systems, Vol. 150, pp. published many papers in different National/International Conferences
179-197, 2005. and Journals.
[20] U. Bodenhofer, P. Bauer, A formal model of interpretability of
linguistic variables, in: J. Cassilas, O. Cordon, F. Herrera, L. Magdalena
(Eds.), Trade off between accuracy and interpretability in fuzzy rule Dr. Surya Prakash Tripathi is with the
based modeling, Studies in Fuzziness and Soft Computing, Physica, Department of Computer Science &
Heidelberg, 2002. Engineering, Institute of Engineering &
[21] O. Cordon, F. Herrera, “A proposal for improving the accuracy Technology (A constituent college of GBTU),
of the linguistic modeling”, IEEE Transactions on Fuzzy Systems, Vol. Lucknow as an Associate Professor. He is M.
8, No. 3, pp. 335-344, 2000. Tech. from IIT, Delhi and Ph. D. from
[22] R. Alcala, J-Alcala-Fdez, F. Herrera, J. Otero, “Genetic learning Lucknow University, Lucknow. He has
of knowledge bases of a fuzzy system by using the linguistic 2-tuple guided many Ph.D. scholars. His area of
representation”, FUZZ-IEEE, pp. 797-802, 2005. interest includes, Databases Operating
[23] R. Alcala, J-Alcala-Fdez, F. Herrera, J. Otero, “Genetic learning Systems, Soft Computing Techniques and
of accurate and compact fuzzy rule based systems based on the 2-tuple other Nature Inspired Artificial Intelligence
representation”, International Journal of Approximate Reasoning, Vol. techniques. He has published many papers in National/International
Conferences/ Journals.
44, pp. 45-64, 2007.
[24] R. Mikut, J. Jakel, L. Groll, “Interpretability issues in data-based
learning of fuzzy systems”, Fuzzy Sets and Systems, Vol. 150, pp. 179-
197, 2005.
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trade off of fuzzy systems by multi-objective fuzzy genetics-based
machine learning”, International Journal of Approximate Reasoning,
Vol. 44, pp. 4-31, 2007.
[26] H. Ishibuchi, K. Nozaki, N. Yamamoto, H. Tanaka, “Selecting
fuzzy if-then rules for classification problems using genetic algorithms”,
IEEE Transaction on Fuzzy Systems, Vol. 3, No. 3, pp. 260–270, 1995.
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of linguistic modeling”, IEEE Transactions on Fuzzy Systems, Vol. 8,
No. 3, pp. 335-344, 2000.
5
A comparative analysis of controllers controlling uncertain factors affecting the

robust position control of DC motor
Farhad Aslam Gagandeep Kaur

Deptt. of Electrical & Instrumentation Engg. Deptt. of Electrical and Instrumentation Engg.
Thapar University, Patiala. Thapar University, Patiala.
farhad_aei@yahoo.com gagan_deep_kaur@yahoo.com
ABSTRACT considerable research and several method

All the industrial process applications require have evolved. Proportional- Integral-
robust position control of DC motor . The aim Derivative (PID) controllers along with their
of this paper is to design a robust position tuning have been widely used for speed and
control of DC motor by selecting different position control of DC motor.
controllers like P, PI, PID and their tuning This paper endeavors to design a system using
methods. The model of a DC motor is two methods of auto tuning of PID parameters
considered as a third order system with called Basic design mode and Extended
incorporating uncertainty. This paper design mode. Auto tuning is basically used to
compares the different kinds of tuning tune PID gains automatically in a Simulink
methods of parameter for PID controller. One model containing a PID controller block. The
is the controller design by Zeigler and Nichols PID tuner allows to achieve a good balance
method, second is the auto tuning of the between performance and robustness. It
controller in basic design mode and third is in automatically computes a linear model of the
the extended design mode. It was found that plant. The PID tuner considers the plant to be
the proposed PID parameters adjustment in the combination of all blocks between the PID
the basic and extended design mode is far controller input and output. Thus, the plant
better than the P, PI and Zeigler and Nichols includes all blocks in the control loop, other
method. The proposed method could be than the controller itself. The main objectives
applied to the higher order system also. of PID tuner are closed- loop stability (in
which system output remains bounded for
Keywords: DC motor, PID tuning, Basic bounded input), adequate performance (in
mode, Extended mode, Robust position which closed- loop system tracks reference
control. changes and suppresses disturbance as rapidly
as possible) and adequate robustness (the loop
I. INTRODUCTION
design has enough gain margin and phase
Due to its excellent speed control margin to allow for modeling errors or
characteristics , the DC motor has been widely variations in system dynamics.
used in industry even though its maintenance Basic design mode of PID tuner refine the
costs are higher than the other motors like controller design by adjusting response time.
induction motor, synchronous motor, It make the closed- loop response of the
brushless dc motor. As a result, robust controlled system faster or slower. Extended
position control of DC motor has attracted design mode of PID tuner refine the controller
design by separately adjust loop bandwidth
COS0301-1
and phase margin. The larger the loop

bandwidth, the faster the controller responds
to changes in the reference or disturbances in B. System Equation
the loop. The larger the phase margin, the
more robust the controller is against modeling The motor torque T is related to the armature
errors or variations in plant dynamics. The current, i , by a torque constant K;
objective of this paper is to show that by
employing the proposed tuning of PID T=Ki (1)
controllers, an optimization can be achieved. The generated voltage, ea, is relative to
This can be seen by comparing the result of angular velocity by;
the PID tuner against the classically tuned ea = K wm = K dθ/dt (2)
system. From Fig. 1 we can write the following
equations based on the Newton‟s law
II. MODELING A DC MOTOR combined with the Kirchhoff‟s law:
To be modeling a DC Motor, simple circuit of J d2θ/dt2 + b dθ/dt = K i (3)

its electrical diagram as shown in Fig. 1 is
considered. To be Modeling and Simulate the L di/dt + Ri = V- K dθ/dt (4)
DC motor, the following steps are to be made
step by step; C. Transfer Function
Step1: Represent the DC motor
circuit diagram. Using the Laplace transform, equations (3)
Step2: Represent system equations and (4) can be written as:
Step3: Calculate the Transfer
function J s2 θ(s) + b s θ(s) = K I(s) (5)
Step4: Convert to model block
Step5: Run the Simulation L s I(s) + R I(s) = V(s) – K s θ(s) (6)
Step6: Analysis
Where s denotes the Laplace operator. From
A. Closed-Loop System Consideration (6) we can express I(s):
To perform the simulation of the system, an

appropriate model needs to be established.
Therefore, a model based on the motor
specifications needs to be obtained. Fig. 1 and substitute it in (5) to obtain:
shows the DC motor circuit with Torque and
Rotor Angle consideration.
This equation for the DC motor is shown in

the block diagram in Fig. 2. From equation
(8), the transfer function from the input
voltage, V (s), to the output angle, θ, directly
Fig. 1 Schematic diagram of a DC motor follows:
COS0301-2
Before any consideration of the above

equations, we must know the constant values
of data, K, J, b, V, L and R. This is very
important to the application of DC motor
which we will be used.
Speed N = 1220 rpm = 127.7 rad/sec Fig. 2 A closed- loop system that
Motor inertia J = 1 Kg.m2 V = 240V Representing the DC motor
EO = V – i Ra = 230.3 V Power P = EO Ia = III. SIMULATION, TESTING AND

3731 W = 5 HP RESULTS
If = V/ Rf = 1 where Rf = 240 Ω EO = w L
If = 127.7 rad/sec There are four cases in which uncertainty in
Therefore for the max speed rpm of 1220, it the form of disturbance and load is
can be calculate the torque constant K; incorporated to the system.
Our Design requirement

K = 1.88 N. m/A
By using equation (3), for w = dθ/dt Maximum Overshoot = < 2%
Undershoot = 0
At the steady state (used as analyzed data), Rise time ( tr) = < 7 sec
both I and w are stabilized; Settling time ( ts) = < 12 sec
Case1: No Load and No Disturbance

Therefore, the total equivalent damping b can
be chosen the value of;
By calculating and assuming the require data

as above, the following value are assigned to
be used for our desire DC Motor Model.
V=240 V; J= 1 kg.m2; b =0.24 N.m.s;
K =1.88 N. m/A; R =0.6 Ω; and L =0.5 H;
Fig. 3 Process model with P controller
COS0301-3
Fig. 4 System output with P controller Fig. 8 System output with PID controller
Fig. 9 System output with PID controller

(Zeigler and Nichols tuning method)
Fig. 5 Process model with PI controller

Fig. 6 System output with PI controller
auto tuning (Basic design mode)
Fig. 7 Process model with PID controller Fig. 11 System output with PID controller
auto tuning (Extended design mode)
COS0301-4
Fig. 12 Step disturbance rejection plot with Fig. 13 Open- loop Bode plot with PID
PID controller auto tuning (Extended design controller auto tuning (Extended design mode)
mode)
Controller KP KI KD
Rise Settling Over Under Gain Phase
types time time (ts shoot shoot margin(db@ margin
(tr in sec) (%) (%) rad/sec) (deg@rad/sec)
in
sec)
P 0.5 0 0 6.19 15.6 0.377 30 7.02@1.43 85.6@0.264
PI 0.5154 0.07252 0 2.68 23.9 25.2 8 6.41@1.4 60@0.303
PID 0.1 0.00001 1.001 70 130 0 0 - -
PID (ZN) 0.0138 0.00123 0.038795 50 1500 65 33 - -
PID(Basic) 0.73195 0.0029102 -1.5315 3.36 14.2 9.85 0 10.1@1.26 60@0.329
PID(Ext.) 0.5247 0.0023067 -1.0011 5.59 8.45 1.62 0 11@1.25 71@0.262
Table 1. Comparative analysis of different controllers under no load & no disturbance

Hence after implementation of auto tuning of
PID controller in extended design mode, the
system design requirement is achieved which
is shown in table 1.
Case2: Load and No Disturbance
In this case uncertainty in the form of 2nd

order load is incorporated.
Fig. 15 System output with P controller
COS0301-5
Fig. 16 Process model with PI controller Fig. 19 System output with PID controller
Fig. 17 System output with PI controller Fig. 20 System output with PID controller
Fig. 21 Step disturbance rejection plot with

Fig. 18 Process model with PID controller
PID controller auto tuning (Extended design
mode)
COS0301-6
Fig. 22 Open- loop Bode plot with PID

controller auto tuning (Extended design mode)
Controller KP KI KD
Rise Settling Over Under Gain Phase
in
sec)
P 0.43695 0 0 9.6 16.1 0.00758 32 8.19@1.43 86.2@0.229
PI 0.35952 0.037665 0 5.45 34 23.7 0 9.62@1.41 60@0.21
PID(Basic) 0.76098 0.0031897 -1.276 2.65 11 8.05 0 8.88@1.2 60@0.361
PID(Ext.) 0.43964 0.0019183 -1.103 6.53 11.6 1.12 0 13@1.28 73@0.278
Table 2. Comparative analysis of different controllers under load & no disturbance
After incorporating 2nd order load, the design

requirement of the system is achieved in the
extended design mode which is shown in table
2.
Case3: No Load and Disturbance
In this case uncertainty in the form of step

disturbance of final value 0.5 is incorporated.
COS0301-7
Fig. 25 Process model with PI controller Fig. 28 System output with PID controller
Fig. 27 Process model with PID controller Fig. 30 Step disturbance rejection plot with
PID controller auto tuning (Extended design
mode)
COS0301-8
Fig. 31 Open- loop Bode plot with PID

controller auto tuning (Extended design mode)
Controller KP KI KD Rise Settling Over Under Gain Phase

in
sec)
P 0.41817 0 0 9.75 19.1 0 20 8.57@1.43 86.4@0.218
PI 0.56269 0.084676 0 2.2 22.8 27.2 1 5.62@1.4 60@0.332
PID(Basic) 0.43964 0.0019183 -1.1032 6.53 11.6 1.12 0 13@1.28 73@0.218
PID(Ext.) 0.86883 0.0035009 -1.4425 2.37 10.9 9.9 0 8.39@1.18 55@0.396
Table 3. Comparative analysis of different controllers under no load & disturbance
Hence after incorporating disturbance, the

design requirement fulfill in Basic design
mode which is shown in table 3.
Case4: Load and Disturbance
In this case uncertainty in the form of step

disturbance of final value 0.5 and a 2nd order
load is incorporated.
COS0301-9
Fig. 36 Process model with PID controller


Fig. 34 Process model with PI controller auto tuning (Basic design mode)
COS0301-10
Fig. 39 Step disturbance rejection plot with Fig. 40 Open- loop Bode plot with PID
PID controller auto tuning (Extended design controller auto tuning (Extended design mode)
mode)
Controller KP KI KD Rise Settling Over Under Gain Phase

in
sec)
P 0.36613 0 0 10.4 20.3 0 20 9.73@1.43 86.9@0.19
PI 0.58763 0.091329 0 2.07 22.5 28.7 5 5.23@1.4 60@0.348
PID(Basic) 0.79159 0.0033399 -1.2026 2.47 10.7 24 3 8.23@1.21 60@0.378
PID(Ext.) 0.4814 0.0021039 -1.1276 5.9 9.46 1.47 3 12.3@1.24 71@0.239
Table 4. Comparative analysis of different controllers under load & disturbance
power components and to use computer

Hence after having uncertainty in the form of simulation as a tool for conducting transient
both 2nd order load and step disturbance, the and control studies. Next to having an actual
best controller performance is achieved in system to experiment on, simulation is often
extended design mode which is shown in table chosen by engineers to study transient and
4. control performance or to test conceptual
designs.
IV. CONCLUSION MATLAB/SIMULINK is used because of the
short learning curve that most students require
Electric machines are used to generate to start using it, its wide distribution, and its
electrical power in power plants and provide general-purpose nature. This will demonstrate
mechanical work in industries. The DC the advantages of using MATLAB for
machine is considered to be basic electric analyzing power system steady state behavior
machines. The aim of this paper is to and its capabilities for simulating transients in
introduce Technicians to the modeling of
COS0301-11
power systems and power electronics, position of a DC motor. MS Thesis, Texas

including control system dynamic behavior. A&M University, Kingsville, 2005.
This paper has demonstrated the [6] M. Chow and A. Menozzi, “on the
implementation of auto tuning of PID comparison of emerging and conventional
controller in MATLAB/SIMULINK, both in techniques for DC motor control,” Proc.
basic and extended design mode. This is easy IECON, pp. 1008- 1013, 1992.
to implement and requires a small amount of [7] SimPowerSystems for use with Simulink,
time. The controller showed robust users guide, Math Works Inc., Natick,
performance of the system under different MA, 2002.
cases and optimization of our system is [8] S. Li and R. Challoo, Restructuring
achieved which is less complex than other electric machinery course with an
controllers and optimization technique. integrative approach and computer-
assisted teaching methodology, IEEE
V. REFERENCES Trans Educ. 49 (2006), 16_28.
[9] J. J. D‟Azzo and C. H. Houpis, Linear
[1] Steven T.Karris, „Introduction to Simulink control system analysis and design,
with Engineering Applications‟, Orchard McGraw-Hill, New York, 1995.
Publications,www.orchardpublications.com [10] S. J. Chapman, Electric machinery
[2] Tan Kiong Howe, May 2003, Thesis, B.E fundamentals, 3rd ed., WCB/McGraw-Hill,
(Hons.), „Evaluation of the transient New York, 1998.
response of a DC motor using
MATLAB/SIMULINK‟, University of
Queensland.
[3] Math Works, 2001, Introduction to
MATLAB, the Math Works, Inc.
[4] O. Dwyer, .PI And PID Controller Tuning
Rules for Time Delay Process: A
Summary. Part 1: PI Controller Tuning
Rules, Proceedings of Irish Signals and
Systems Conference, June1999
[5] Raghavan S. Digital control for speed and
COS0301-12
A SURVEY ON CURRENT CONVEYOR: NOVEL

UNIVERSAL ACTIVE BLOCK
1
Indu Prabha Singh and 2 Dr. Kalyan Singh
1
Deptt. of Electronics and Comm. Engg. SITM, UNNAO-209859, India
2
Dept. of Physics and Electronics Engg. , Dr. RML AVADH UNIVERSITY, FAIZABAD, India
(Email: induprabhasingh@gmail.com, ksshrinet@yahoo.co.in )
ABSTRACT
Current conveyors (CCs) are being was devised in 1984 by G. Wilson [3]
increasingly employed to replace operational where another current-mirror configuration;
amplifiers in almost all analog signal- known as Wilson current mirror was
processing applications because their current employed. It consists of an operational
mode architectures are particularly suitable amplifier and external PNP transistors. A
for today’s low-voltage high frequency
second generation current conveyor (CCII)
applications. In this paper, different basic
current amplifier topologies are discussed. was presented in 1990 using an operational
With these amplifiers, more complicated amplifier and external CMOS transistors
current-mode amplifiers are constructed in the [4]. Both circuits were subject to the OP-
CMOS Integration technology. AMP performance and again to the
transistor mismatching. During that time,
Key Words: current conveyor, current research societies started to notice that the
feedback amplifier, operational amplifier, voltage-mode operational amplifier is not
higher-bandwidth, CCI. necessarily the best solution to all
analogue circuit design problems. New
research findings regarding current-mode
1. INTRODUCTION signal processing using current-conveyors
were presented. Furthermore, a
Current conveyors have been used as a commercial product became available: the
basic building block in a variety of current-feedback operational amplifier [5,
electronic circuit in instrumentation and 6]. The high slew rate and wide bandwidth
communication systems. Today they of this amplifier resulted in its popularity
replace the conventional Op-amp in so in video amplifier applications.
many applications such as active filters, The current conveyor is receiving
analog signal processing, and converters. considerable attention as they offer analog
The current-conveyor, published in 1968 designers some significant advantages over
[1], represented the first building block the conventional op-amp. These
intended for current signal processing. In advantages can be pointed out as follows:
1970 appeared the enhanced version of the
current-conveyor: the second-generation Improve AC performance with better
current-conveyor CCII [2]. They used high linearity.
quality PNP - NPN transistors of a like Wider and nearly constant bandwidth
polarity and match each other but independent of closed loop gain.
difference in current gain reduced the Relatively High slew rate (typically
circuit accuracy. This is due to the base 2000V/μs).
current error. The other current conveyor
COS0302-1
Flexibility of driving current or voltage MOS current-mirrors are more

signal output at its two separate nodes, accurate and less sensitive to process
hence suitable for current and voltage mode variation. Therefore, MOS-transistor
devices. circuits should be simplified by using
Reduced supply voltage of integrated current signals in preference to voltage
circuits. signals. For this reason, integrated
Accurate port transfer ratios equal to current-mode system realizations are
unity hence employed in low sensitivity closer to the transistor level than the
design. conventional voltage-mode realizations.
Requirement of smaller number of
passive components to perform a specific When signals are widely distributed as
function. voltages, the parasitic capacitances are
In 1988 the principle of a MOS current charged and discharged with the full
copier was presented [7], which enabled voltage swing, which limits the speed
analogue circuit designers to design and increases the power consumption
different Current Conveyors using only of voltage-mode circuits. Current-
MOS-transistors. Therefore, apart from mode circuits cannot avoid nodes with
above advantages following are the driving high voltage swing either but these are
force behind the development of MOS usually local nodes with less parasitic
Current Conveyor: capacitances. Therefore, it is possible
to reach higher speed and lower
Analog VLSI addresses almost all real dynamic power consumption with
world problems and finds exciting new current-mode circuit techniques.
information processing applications in Current-mode interconnection circuits
variety of areas such as integrated in particular show promising
sensors, image processing, speech performance
recognition, hand writing recognition
2. BASIC CURRENT CONVEYOR
etc [5]. The need for low-voltage low-
power circuits is immense in portable A CC is a three or more port (X, Y, Z)
electronic equipments like laptop network. Whose input-output relationship
computers, pace makers, cell phones etc. is given by:
Voltage Mode Circuits are rarely used
in low-voltage circuits as the minimum
bias voltages depend on the threshold
voltages of the MOSFETs. However, in
current mode circuits (CMCs), the (1)
currents decide the circuit operation and Where A, B, C assume a value either 1, 0
enable the design of the systems that or - 1 and RX is the intrinsic resistance
can operate over wide dynamic range. offered by the port X to the input currents.
For an ideal CC VX = VY and the input
MOS-transistors in particular are more resistance (RX) at port X is zero (equation
suitable for processing currents rather (1)). But in practical CCs, RX is a nonzero
than voltages because the output signal positive value.
is current both in common-source and The commonly used block representation
common-gate amplifier configurations. of a CC is shown in Figure 1, where X and
Common-drain amplifier configuration Y are the input terminals and Z is the
is almost useless at low supply voltages output terminal.
because of the bulk-effect present in
typical CMOS-processes.
COS0302-2
Because of this low impedance at the input

terminal CCI circuit can be used as an
accurate current amplifier. In addition, the
DC-voltage level at the current input X can
be easily set to a desired value by the
voltage at the Y-terminal and input
voltage-to-current conversion is easier .It
can also be used as a negative impedance
Figure1: GeneralCurrentConveyor Symbol converter (NIC) [12], if the Y-terminal is
terminated with a grounded resistance R.
3. FIRST GENERATION CURRENT- The impedance at the terminal X equals
CONVEYOR (CCI)
The first generation current conveyor CCI
forces both the currents and the voltages in
ports X and Y to be equal and a replica of
the currents is mirrored (or conveyed) to
the output port Z. Port Y is used as input
for voltage signals and it should not load
the input voltage source by drawing
4.SECOND GENERATION CURRENT-
current. But, in some applications, it is
CONVEYOR ( CCII)
desirable to draw currents from the input
In many applications, only one of the
voltage source. When A = 1, port Y draws
virtual grounds in terminals X and Y of the
a current equal to the current injected at
first generation current-conveyor is used
port X and the configuration is termed as
and the unused terminal must be grounded
CCI.
or otherwise connected to a suitable
Figure 2 presents a simple MOS
potential. This grounding must be done
implementation of the first generation
carefully since a poorly grounded input
current-conveyor CCI. In this circuit, the
terminal may cause unwanted negative
NMOS transistors M1 and M2 form a
impedance at the other input terminal.
current mirror that forces the drain currents
Moreover, for many applications a high
of the PMOS transistors M3 and M4 to be
impedance input terminal is preferable. For
equal and hence the voltages at the
these reasons, the second generation
terminals X and Y are forced to be
current-conveyor was developed. It has
identical.
one high and one low impedance input
rather than the two low impedance inputs
of the CCI [2, 18-20].
Figure3: The principle of the second

Figure2: simple MOS implementation of the generation current-conveyors.
first generation current-conveyor CCI (a) The positive conveyor CCII+, iz = ix.
(b) The negative conveyor CCII-, iz =- ix.
COS0302-3
X-terminal, the CCIII has high input

This current-conveyor differs from the first impedance with common-mode current
generation conveyor in that the terminal Y signals, i.e. identical currents are fed both
is a high impedance port, i.e. there is no to Y- and X-terminals. Therefore common-
current flowing into Y(A = 0). The Y- mode currents can push the input
terminals out from the proper operation
terminal of the second generation current-
range. Therefore this conveyor is used as
conveyor is a voltage input and the Z- current probing.
terminal is a current output, the X-terminal
can be used both as a voltage output and as 6. CURRENT-FEEDBACK OPERAT-
a current input. Therefore, this conveyor IONAL AMPLIFIER
can easily be used to process both current The current-feedback operational amplifier
and voltage signals unlike the first is positive second generation current-
generation current-conveyor or the conveyor CCII+ with an additional voltage
operational amplifier. buffer at the conveyor current output (5, 7,
A further enhancement to the second 8). The non-inverting port (Y) exhibits high
generation current-conveyor is that there impedance to voltage signals where as the
are two types of conveyors: in the positive inverting port (X) present low impedance to
current-conveyor CCII+, the currents ix the input current signals. The current at the
and iz have the same direction as in a inverting input (X) of the current-feedback
current-mirror and in the negative current- operational amplifier is transferred to the
conveyor CCII-the currents ix and iz have high impedance current-conveyor output Z,
opposite direction as in a current buffer. causing a large change in output voltage.
The second-generation current-conveyor is The current-feedback operational amplifier
in principle a voltage-follower with a has a transresistance equal to the
voltage input, Y, and a voltage output, X, impedance level at the conveyor Z-output.
and a current-follower (or current-inverter) Therefore, in the literature, the current-
with a current input X and a current output feedback operational amplifier is also
Z connected together (Figure 3). The referred to as a transimpedance amplifier.
negative second-generation current-
conveyor CCII- can also be considered an The most commercial current-feedback
idealised MOS-transistor, where the operational amplifier is AD844 [11],
currents iy =ig =0 and iz =id = - ix = - is and where the user has access to the high
the voltages vx = vs = vy = vg. An ideal impedance node TZ. This amplifier can
MOS transistor is one that has a zero also be utilised as a second generation
threshold voltage Vt and zero channel current-conveyor and current to-voltage
length modulation parameter ϒ and converter. The applications and advantages
operates in the saturation region regardless
of the drain-source voltage (positive or
negative).
5. THIRD GENERATION CURRENT-
CONVEYOR (CCIII)
Current-conveyor III was proposed in
1995 [9]. The operation of the third
generation current-conveyor CCIII is
similar to that of the first order current-
conveyor CCI, with the exception that the
currents in ports X and Y flow in opposite Figure 4: The operating principle of the
directions (A= -1). As the input current current-feedback operational amplifier.
flows into the Y-terminal and out from the
COS0302-4
in realizing active filter transfer function Figure 5: The operational floating conveyor
using CFAs have received great attention constructed of two second generation current-
because the amplifier enjoys the feature of conveyors.
constant feedback independent of closed
conveyors. With this circuit, it is possible
loop gain and high slew rate besides
to realise all four types of amplifiers:
having low output impedance. Thus it is
voltage, current, transconductance, and
advantageous to use CFA as a basic
transimpedance amplifiers, as presented in
building block in the accomplishment of
Figure 6. The voltage amplifier in Figure 6
various analog signal-processing tasks.
operates identically to the current-feedback
operational amplifier realization of the
7. OPERATIONAL FLOATING
noninverting voltage amplifier.The four
CONVEYOR
amplifier types can also be realised with
The operational floating conveyor (Figure
5) is a current-mode building block that second generation current-conveyors as
combines the transmission properties of a open loop amplifiers. However, when
current-conveyor and a current-feedback operational floating conveyor realisations
operational amplifier, and has an are used, the amplifier gain is less sensitive
additional output current sensing capability to finite X-terminal impedance. Since the
[13]. The matrix representation of the feedback reduces impedance levels at both
operational floating conveyor is X- and W-terminals, the band- widths of
the amplifiers are less sensitive to parasitic
capacitances. Furthermore, the feedback
also reduces distortion at low frequencies
but still the current signal path from W- to
Z-terminal remain outside the feedback
(2) loop and thus the nonlinearity remains
unchanged in that part.
Where Zt is the transimpedance of the
internal current-feedback operational
8. COMPOSITE CONVEYORS
amplifier. The operational floating conveyor can be
If a current-conveyor is a voltage-follower also configured to form a high
with an additional output current-sensing performance second generation current-
circuit, the operational floating conveyor is conveyor as presented in Figure 7a. This is
a current-feedback operational amplifier
with a similar output current-sensing
circuit. Alternatively this conveyor can be
constructed of two cascaded current-
COS0302-5
Figure 6: Basic amplifier types realised with

operational floating conveyor.
(a) Voltage amplifier (b) Current amplifier
Figure 7: Different composite conveyors.
(c) Transconductance (d) Transresistance
(a) A composite CCII+ with enhanced Zx
resembling an operational floating
a useful technique for designing CMOS conveyor.
current-conveyors: with two poorly (b) A composite CCII- with a different
operating simple CMOS positive second technique to lower Zx.
generation conveyors, one positive (c) A composite CCII+ with enhanced Yx.
conveyor with enhanced X-terminal
impedance Zx can be constructed. In the
case of simple CMOS conveyors even the 9.FULLY DIFFERENTIAL CURRENT
resistor RF can generally be omitted as the CONVEYOR ( FDCCII)
X-terminal is high enough to prevent any Recently, a new active element called the
stability and settling problems. There is an FDCCII has been proposed [15] to
alternative way to construct a composite improve the dynamic range in mixed-
conveyor which lowers the X-terminal mode applications where fully differential
impedance. This composite CCII- is signal processing is required. The matrix
presented in Figure 7 b [14]. In this input–output relationship of the eight-
composite conveyor, the lower conveyor terminal FDCCII is:
CC2 works as a negative impedance
conveyor and consequently the X-terminal
impedance of the composite CCII- is
(3)
10. OPERATIONAL FLOATING

CURRENT CONVEYOR (OFCC)
COS0302-6
The OFCC is a five-port network, components is converted into one that

comprised of two inputs and three output contains current amplifiers and passive
ports, as shown in matrix representation 4. components. An ideal voltage amplifiers
In this representation, the port labelled X has infinite input impedance and zero
represents a low-impedance current input, output impedance, while an ideal current
port Y is a high-impedance input voltage, amplifier has zero input impedance and
W is a low-impedance output voltage, and infinite output impedance. Consequently,
Z+, and Z- are the high-impedance current direct replacement of a voltage amplifier
outputs with opposite polarities. The with a current amplifier will lead to
OFCC operates where the input current at different circuit behaviour.
port X is multiplied by the open loop A voltage-mode circuit can be converted
transimpedance gain to produce an output into a current-mode circuit by constructing
voltage at port W. The input voltage at an interreciprocal network by using the
port Y appears at port X and, thus, a adjoint principle [1, 17].According to this
voltage tracking property exists at the principle, a network is replaced with an
input port. Output current flowing at port adjoint network Na, the voltage excitation
W is conveyed in phase to port Z+ and out is interchanged to a current response, and
of phase with that flowing into port Z-, so the voltage response is interchanged to a
in this case, a current tracking action exists current excitation, as demonstrated in
at the output port. Thus, the transmission Figure 8.Thus, the resulting transfer
properties of the ideal OFCC can be functions of these two networks N and Na
conveniently described as are identical:
(5)
(4)
where iy and vy are the inward current and
voltage at the Y port, respectively, as
shown in Fig. 4. ix and vx are the input
current and voltage at the X port,
respectively. iw and vw are the output
Figure 8: Interreciprocal networks N and Na.
current and voltage at W port, respectively.
iZ and vZ and are the output current and
voltage at Z+ port, respectively. Similarly, The networks N and Na are thus said to be
iZ- and vZ- and are the output current and inter-reciprocal to one another. When the
voltage at the Z- port, respectively. networks N and Na are identical, for
example in the case of passive networks,
11. CONVERSION OF VOLTAGE- the networks are said to be reciprocal. In
MODE CIRCUIT TO CURRENT – order to maintain identical transfer
MODE: ADJOINT PRINCIPLE functions for both the original network N
As a wide range of voltage-mode analog and the adjoint network Na the impedance
circuits already exist, a straight forward levels in the corresponding nodes of both
method of converting these voltage-mode networks should be identical. Therefore,
circuits to current-mode circuits would be the signal flow is reversed in the adjoint
very useful. In such a method a circuit network and a voltage source is converted
using voltage amplifiers and passive to a current sensing element as they both
COS0302-7
behave as short circuits. Similarly, a transconductance amplifiers and passive

voltage sensing element is converted to a elements differ only in signal direction and
current source. A list of circuit elements type.
and their adjoint elements are presented in The adjoint principle can also be applied to
the Table 1. transistor level circuits. In this case, a
bipolar transistor in a common-emitter
amplifier configuration is inter-reciprocal
to itself and the common-collector
amplifier configuration has the common-
base configuration as its adjoint.
Converting a voltage-mode bipolar
transistor circuit to a current-mode MOS-
transistor circuit could be beneficial as it
minimises the use of source-follower
stages which have poor low-voltage
performance due to the bulk effect. Bipolar
transistor circuits are conventionally
constructed of common-emitter and
common-collector amplifier stages and the
resulting MOS-transistor adjoint circuit is
constructed of common-source and
common-gate amplifier stages.
Figure 9: Sallen- Key active biquad Filter

using Op-amp
Table 1: Some circuit elements with their
corresponding adjoint elements
In addition, controlled sources can be

converted with the same principles: the
signal flow is reversed and the impedance
level is kept the same. In this way, a
voltage amplifier is converted to a current
amplifier and a current amplifier is Figure10: Sallen-Key active biquad Filter
converted to a voltage amplifier, using Current conveyor II
respectively. However, since
transresistance and transconductance Using the adjoint principle the low-pass
amplifiers are inter-reciprocal, networks Sallen-Key circuit can be replaced with a
containing only transresistance or current conveyor based circuit. The
COS0302-8
transfer function is the same for both of the In this paper, we have presented
circuits classification and some advanced
applications of CCs. The concept of
modularity has been introduced in analog
circuit design through reconfiguring a
current conveyor as CFAs and OFCs.
Some of the performance parameters are
bandwidth, power dissipation etc. We have
seen that these CCs can perform better
than operational amplifier based circuits in
almost all signal-processing applications.
These circuits are now used in custom-
built analog ICs. It is possible to explore
new type of devices and their applications.
REFERENCES
(a)
[1] K. Smith, A. Sedra, “The current-
conveyor-a new circuit building block,”
IEEE
Proc., vol. 56, pp. 1368-69, 1968.
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COS0302-10
A COMPARITIVE STUDY OF GENETIC ALGORITHM

AND THE PARTICLE SWARM OPTIMIZATION
Sapna Katiyar, Deepika pandey, Sakshi Chhabra, Vaishali Gupta,
A.B.E.S. Institute of Technology, NH-24, Vijay Nagar, Ghaziabad (UP) 201009,

(e-mail: sapna.katiyar@abes.in, deepika.pandey40@gmail.com, sakshi104@yahoo.co.in,
vaishali.gupta@gmail.com)
Corresponding Author: sapna.katiyar@abes.in

ABSTRACT
Particle Swarm Optimization (PSO) is a relatively recent heuristic search method whose mechanics are
inspired by the swarming or collaborative behavior of biological populations.PSO is similar to the Genetic
Algorithm (GA) as these two evolutionary heuristics are population-based search methods. In other words,
PSO and the GA move from a set of points (population) to another set of points in a single iteration with
likely improvement using a combination of deterministic and probabilistic rules. The GA and its many
versions have been popular in the academy and the industry mainly because of its intuitiveness, ease of
implementation, and the ability to effectively solve highly nonlinear, mixed integer optimization problems
that are typical of complex engineering systems. The drawback of the GA is its expensive computational cost.
This paper attempts to examine the claim that PSO has the same effectiveness (finding the true global optimal
solution) as the GA but with significantly better computational efficiency (less function evaluations) by
implementing statistical analysis and formal hypothesis testing. The major objective of this paper is to
compare the computational effectiveness and efficiency of the GA and PSO using a formal hypothesis testing
approach.
Index Terms - Genetic algorithm, Candid solution, metaheuristics, Numerical optimization, stochastic, swarm,
variants, hybrid PSO, PSO parameters
__________________________________________________________________________________________
I. BACKGROUND Particle Swarm Optimization (PSO) was invented

by Kennedy and Eberhart in the mid 1990s while
The Genetic Algorithm (GA) was introduced in the attempting to simulate the choreographed, graceful
mid 1970s by John Holland and his colleagues and motion of swarms of birds as part of a socio cognitive
students at the University of Michigan. The GA is study investigating the notion of “collective
inspired by the principles of genetics and evolution, intelligence” in biological populations. In PSO, a set
and mimics the reproduction behavior observed in of randomly generated solutions (initial swarm)
biological populations. The GA employs the principal propagates in the design space towards the optimal
of “survival of the fittest” in its search process to solution over a number of iterations (moves) based
select and generate individuals (design solutions) that on large amount of information about the design
are adapted to their environment (design space that is assimilated and shared by all members
objectives/constraints). Therefore, over a number of Of the swarm. PSO is inspired by the ability of flocks
generations (iterations), desirable traits (design of birds, schools of fish, and herds of animals to
characteristics) will evolve and remain in the genome adapt to their environment, find rich sources of food,
composition of the population (set of design solutions and avoid predators by implementing an “information
Generated each iteration) over traits with weaker sharing” approaches, hence, developing an
undesirable characteristics. The GA is applied to evolutionary advantage.
solve complex design optimization problems because
it can handle both discrete and continuous variables
and nonlinear objective and constrain functions
without requiring gradient information. II. GENETIC ALGORITHM
COS0401-1
In a genetic algorithm, a population of strings every such representation is valid, as the size of
(called chromosomes or the genotype of the genome), objects may exceed the capacity of the knapsack.
which encode candidate solutions (called phenotypes)
The fitness of the solution is the sum of
to an optimization problem, evolves toward better
values of all objects in the knapsack if the
solutions. Solutions are represented in binary as
representation is valid or 0 otherwise. In some
strings of 0s and 1s, but other encodings are also
problems, it is hard or even impossible to define the
possible. The evolution usually starts from a
fitness expression; in these cases, interactive genetic
population of randomly generated individuals and
algorithms are used.
happens in generations. In each generation, the
fitness of every individual in the population is Once we have the genetic representation and
evaluated, multiple individuals are stochastically the fitness function defined, GA proceeds to initialize
selected from the current population (based on their a population of solutions randomly, and then improve
fitness), and modified (recombined and possibly it through repetitive application of mutation,
randomly mutated) to form a new population. The crossover, and inversion and selection operators.
new population is then used in the next iteration of
the algorithm. The algorithm terminates when either B. IMPLEMENTATION ALGORITHM
a maximum number of generations has been The genetic algorithm uses the chromosomes fitness
produced, or a satisfactory fitness level has been value to create a new population consisting of the
reached for the population. If the algorithm has fittest members. The flow chart of the GA is given
terminated due to a maximum number of generations, here in Fig 1.
a satisfactory solution may or may not have been
reached.
Start
A typical genetic algorithm requires:
A genetic representation of the
Create randomly selected
solution domain
initial population
A fitness function to evaluate the solution
domain.
A standard representation of the solution is as
an array of bits. The main property that makes these Fitness
genetic representations convenient is that their parts Evaluation
are easily aligned due to their fixed size, which
facilitates simple crossover operations. Variable
length representations may also be used, but
Yes Optimal
crossover implementation is more complex in this
case. Tree-like representations are explored in genetic Solution?
programming and graph-form representations are
explored in evolutionary programming. Stop
No
A. OBJECTIVE FUNCTION OF GENETIC Reproduction

ALGORITHM
The fitness function is defined over the
genetic representation and measures the quality of the
represented solution. The fitness function is always
problem dependent. For instance, in the knapsack No
problem one wants to maximize the total value of Fit Chromosome?
objects that can be put in a knapsack of some fixed
capacity. Discard
A representation of a solution might be an Yes
array of bits, where each bit represents a different
object, and the value of the bit (0 or 1) represents Mutation
whether or not the object is in the knapsack. Not
Fig 1: Flow Chart of the Genetic Algorithm
COS0401-2
C. APPLICATIONS according to simple mathematical formulae. The

movements of the particles are guided by the best
Genetic algorithms find application in bioinformatics, found positions in the search-space which are
phylogenetics, computational science, engineering, updated as better positions are found by the particles.
economics, chemistry, manufacturing, mathematics, PSO algorithm works by having a population (called
physics and other fields. a swarm) of candidate solutions (called particles).
These particles are moved around in the search-space
Learning Robot behavior using Genetic Algorithms: according to a few simple formulae. The movements
Robot has become such a prominent tools that it has of the particles are guided by their own best known
increasingly taken a more important role in many position in the search-space as well as the entire
different industries. As such, it has to operate with swarm's best known position. When improved
great efficiency and accuracy. This may not sound positions are being discovered these will then it will
very difficult if the environment in which the robot guide the movements of the swarm. The process is
operates remain unchanged, since the behaviors of repeated and satisfactory solution will be discovered.
the robot could be pre-programmed. However, if the
environment is ever-changing, it gets extremely A.PSO VARIANTS
difficult, if not impossible, for programmers to figure
out every possible behaviors of the robot. Applying Various variants of a basic PSO algorithm are
robot in a changing environment is not only possible. New and some more sophisticated PSO
inevitable in modern technology, but is also variants are continually being introduced in an
becoming more frequent. This has obviously led to attempt to improve optimization performance. There
the development of a learning robot. is a trend in that research; one can make a hybrid
optimization method using PSO combined with other
optimization techniques.
III.PARTICLE SWARM OPTIMIZATION Discrete PSO
Constriction Coefficient
Bare-bones PSO
The PSO was first designed to simulate birds seeking
Fully informed PSO
food which is defined as a “cornfield vector.” The
bird would find food through social cooperation with
other birds around it (within its neighborhood). It was
B. APPLICATIONS
then expanded to multidimensional search.
Particle swarm optimization (PSO) is a The first practical application of PSO was in the field
computational method that optimizes a problem of neural network training and was reported together
by iteratively trying to improve a candidate solution with the algorithm itself (Kennedy and Eberhart
with regard to a given measure of quality. Such 1995). Many more areas of application have been
methods are commonly known as metaheuristics as explored ever since, including telecommunications,
they make few or no assumptions about the problem control, data mining, design, combinatorial
being optimized and can search very large spaces of optimization, power systems, signal processing, and
candidate solutions. However, metaheuristics such as many others. PSO algorithms have been developed to
PSO do not guarantee an optimal solution is ever solve:
found. Constrained optimization problems
PSO does not use the gradient of the problem being Min-max problems
optimized, which means PSO does not require for the Multi objective optimization problems
optimization problem to be differentiable as is Dynamic tracking
required by classic optimization methods such
as gradient descent and quasi-newton methods. PSO C. IMPLEMENTATION ALGORITHM
can therefore also be used on optimization problems
that are partially irregular, noisy, change over time,
etc. The PSO algorithm is simple in concept, easy to
implement and computational efficient. Original PSO
PSO optimizes a problem by having a population was implemented in a synchronous manner (Fig 2)
of candidate solutions, here dubbed particles, and but improved convergence rate is achieved by
moving these particles around in the search-space asynchronous PSO algorithm Fig 2.
COS0401-3
V. CONCLUSIONS
Particle Swarm Optimization (PSO) is a relatively

recent heuristic search method that is based on the
idea of collaborative behavior and swarming in
biological populations. PSO is similar to the Genetic
Algorithm (GA) in the sense that they are both
population-based search approaches and that they
both depend on information sharing among their
population members to enhance their search
processes using a combination of deterministic and
probabilistic rules. Conversely, the GA is a well
established algorithm with many versions and many
applications.
GA is very helpful when the developer does not have

precise domain expertise, because GAs possesses the
ability to explore and learn from their domain. PSO
can be applied to multi-objective problems, in which
the fitness comparison takes pareto dominance into
account when moving the PSO particles and non-
dominated solutions are stored so as to approximate
the pareto front.
The objective of this research paper is to test

the hypothesis that states that although PSO and the
GA on average yield the same effectiveness (solution
quality), PSO is more computationally efficient (uses
less number of function evaluations) than the GA.
REFERENCES
[1] Goldberg, D.E. (1989). Genetic Algorithms in

Search, Optimization and Machine Learning,
Addison-Wesley.
[2] Kennedy, J. and Eberhart, R., “Particle Swarm
Fig 2: Synchronous PSO algorithm (Parallel Optimization,” Proceedings of the IEEE
Processing) International Conference on Neural Networks,
Perth, Australia 1995, pp. 1942-1945.
IV. GENETIC ALGORITHM VERSUS [3] Kennedy, J. and Eberhart, R., Swarm Intelligence,
PARTICLE SWARM OPTIMIZATION Academic Press, 1st ed., San Diego, CA, 2001.
[4] Yuhui Shi. Particle Swarm Optimization.
1) GA is inherently discrete, i.e. it encodes the Electronic Data Systems, Inc. IEEE Neural Network
design variables into bits of 0’s and 1’s, Society.
therefore it easily handles discrete design [5] R. Poli. Analysis of the publications on the
variables, and PSO is inherently continuous applications of particle swarm optimization. Journal
and must be modified to handle discrete of Artificial Evolution and Applications, Article ID
design variables. 685175, 10 pages, 2008.
[6] R. Poli, J. Kennedy, and T. Blackwell. Particle
2) Unlike the GA with its binary encoding, in swarm optimization. An overview. Swarm
PSO, the design variables can take any Intelligence, 1(1):33-57, 2007.
values, even outside their side constraints,
based on their current position in the design
space and the calculated velocity vector.
COS0401-4

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CONFERENCE ON “SIGNAL PROCESSING AND REAL TIME OPERATING SYSTEM (SPRTOS)” MARCH 26-27 2011

TEMPORAL DIFFERENCES IN PROCESSING OF SYMMETRIC OBJECTS IN HUMAN

2. MATERIALS AND METHODS waveform can be quantitatively characterized across three

2.4.1. ERP analysis

Fig 1: Samples of photos of faces and symmetric unnatural

Fig 2: 10-20 system of EEG electrode placement

[1] H.P. Beeck, J. Haushofer and N.G. Kanwisher, “Interpreting

[2] R.Malach, et al., “Object-related activity revealed by functional

[3] K.G. Spector, Z. Kourtzi and N. Kanwisher, “The lateral

[4] N.Kanwisher, R.P. Woods, M. Lacoboni and J.C. Mazziotta,

[5] N.Kanwisher and G. Yovel, “The fusiform face area: a cortical

[6] N.Kanwisher, J. McDermott and M.M. Chun, “The fusiform

[7] K.G. Spector, “The neural basis of object perception,”

[8] B.Rossion et al., “A network of occipito-temporal face

[9] R. Epstein and N. Kanwisher, “A cortical representation of the

[11] R.F. Schwarzlose, C.I. Baker and ] N.Kanwisher, “Separate

[12] B.D.McCandliss,L.Cohen and S. Dehaene, “The visual word

[13] T.Allison, A. Puce, D.D. Spencer, G.McCarthy,

[14] B. Blankertz, K.R. Muller, G. Curio and T.M. Vaughan, “The

Modelling Neuron for Biomedical Applications: A Review

Over past few years, many electronic circuits

transmitter –Receptor(Open) (3)

Where K1 and K2 are the forward and backward

Fig.4(a): Biologically motivated model of

units in biomedical area in general and neurology in

Proc. 2010 IEEE-EMBS Conference on Biomedical

Organ Failure Assessment in Malarial Patients

Mr. Jay Kumar Pandey

Shri Ramswaroop Memorial College of Engineering and Management , Lucknow , U.P

1.2. Indicating Features (ii) and leukocytes

Figure.1. A.Cellular events that occur late in disease

Figure .2.A. Sequential Organ Failure Assessment Data

5. Experimental Results Using Neural

After training the data using Brain maker, the least

[8] “Intelligence in medical image processing” Image and

[9] Dinesh Mital, Shankar Srinivasan, Syed Haque and Radhika

[14] Miller, A. (1993). “The Application of Neural Networks to

AN INTELLIGENT CONTROL METHOD TO REDUCE BRAKE NOISE

Pramod Kumar Pandey Yaduvir Singh

II. THE BRAKE MODEL

Fd= F- M’. a ------------- (3)

Where F is the measured actuating force,

In this work, namely the step

Figure 2 Schematic diagram of AFC

Model for AFC+Fuzzy

Figure 6: Membership function for input-1

Figure 7: Membership function for input-2

Figure 8: Membership function for output

Figure 11: Fuzzy+AFC model for break

V.RESULTS AND DISCUSSION

Figure 12: Response of the brake model

The result of the scheme is Figure 15 clearly shows the

Figure 16: Response of the brake model

Figure 14 Performances of PID+AFC

pad model enhanced by spectral-based assurance

APPLICATION OF FUZY LOGIC IN AUTOMATIC BOTTLE FILLING SYSTEM

EIE Department, Galgotias college of Engineering And Technology, Greater Noida

Keywords: Fuzzy Logic, Heuristic rules, Fuzzy

Automatic Bottle Filling systems are used on large

III BRIEF DESCRIPTION OF THE SYSTEM

The system under study is a fully automatic bottle

The MAX232 is an integrated circuit that

display drivers (LED gas discharge), line

Fig 5. {MAX232 connection}