Real-time fuzzy-knowledge-based control of Baker's yeast production

A real-time fuzzy-knowledge-based system for fault diagnosis and control of bioprocesses was constructed using the object-oriented programming environment Small-talk/V Mac. The basic system was implemented in a Macintosh Quadra 900 computer and built to function connected on line to the process computer. Fuzzy logic was employed in handling uncertainties both in the knowledge and in measurements. The fuzzy sets defined for the process variables could be changed on-line according to process dynamics. Process knowledge was implemented in a graphical two-level hierachical knowledge base. In on-line process control the system first recognizes the current process phase on the basis of top-level rules in the knowledge-base. Then, according to the results of process diagnosis based on measurement data, the appropriate control strategy is subsequently inferred making use of the lower level rules describing the process during the phase in question. (c) 1995 John Wiley & Sons, Inc.     

Full-state tracking control of a mobile robot using neural networks

In this paper a nonholonomic mobile robot with completely unknown dynamics is discussed. A mathematical model has been considered and an efficient neural network is developed, which ensures guaranteed tracking performance leading to stability of the system. The neural network assumes a single layer structure, by taking advantage of the robot regressor dynamics that expresses the highly nonlinear robot dynamics in a linear form in terms of the known and unknown robot dynamic parameters. No assumptions relating to the boundedness is placed on the unmodeled disturbances. It is capable of generating real-time smooth and continuous velocity control signals that drive the mobile robot to follow the desired trajectories. The proposed approach resolves speed jump problem existing in some previous tracking controllers. Further, this neural network does not require offline training procedures. Lyapunov theory has been used to prove system stability. The practicality and effectiveness of the proposed tracking controller are demonstrated by simulation and comparison results.     

A decentralized fault tolerance model based on level of performance for grid environment

Computational grids have the potential for solving large-scale scientific problems using heterogeneous and geographically distributed resources. At this scale, computer resources and network failures are no more exceptions, but belong to the normal system behavior. Therefore, one of the most valuable characteristics of grid tools, apart from the performance they can achieve, is fault tolerance, which is a significant and complex issue in grid computing systems. In this paper, we propose a fault tolerant model for grid computing systems namely DCFT. This model is based on dynamic colored graphs without replication of computer resources. The proposed faut tolerance model consists of two stages. In the first stage, each node is described by a state vector. We color each attribute of the state vector as three colors (green, blue and red) based on its level of performance. In the second stage, we classify the nodes of a grid into three categories: the identical computer resources in term of performance, the more efficient ones and the less efficient ones. We used the colors of the nodes to develop a new strategy for fault tolerance based on the level of performance. A simulation of the proposed model using SimGrid simulator and Graphstream is conducted. Experimental results show that the proposed model performs very well in a large grid environment.     

Adaptive Control Based Harvesting Strategy for a Predator–Prey Dynamical System

This paper deals with designing a harvesting control strategy for a predator–prey dynamical system, with parametric uncertainties and exogenous disturbances. A feedback control law for the harvesting rate of the predator is formulated such that the population dynamics is asymptotically stabilized at a positive operating point, while maintaining a positive, steady state harvesting rate. The hierarchical block strict feedback structure of the dynamics is exploited in designing a backstepping control law, based on Lyapunov theory. In order to account for unknown parameters, an adaptive control strategy has been proposed in which the control law depends on an adaptive variable which tracks the unknown parameter. Further, a switching component has been incorporated to robustify the control performance against bounded disturbances. Proofs have been provided to show that the proposed adaptive control strategy ensures asymptotic stability of the dynamics at a desired operating point, as well as exact parameter learning in the disturbance-free case and learning with bounded error in the disturbance prone case. The dynamics, with uncertainty in the death rate of the predator, subjected to a bounded disturbance has been simulated with the proposed control strategy.     

Stable adaptive algorithm for simultaneous estimation of time-varying parameters and state variables in aerobic bioprocesses

The application of modern model based control algorithms in the bioprocesses is hampered by the lack of accurate and cheap on-line sensors, capable of providing on-line measurements of the main process variables and parameters. In this paper, a new approach for estimation of immeasurable time-varying parameters and state variable is presented for a class of aerobic bioprocesses using only on-line measurements of the oxygen uptake rate. The approach consists in the design of a new parameter estimator of biomass growth rate and yield coefficient for oxygen consumption on the basis of the theory of adaptive estimation. The dynamical equation of the measurable reaction rate, oxygen uptake rate, is presented as a linear one with respect to the biomass growth rate and the yield coefficient for oxygen consumption. In this way, the structure of the proposed estimator becomes linear time-varying one. After some mathematical transformations, that structure is presented in a form, allowing to be derived the stability conditions using some theoretical results concerning the stability of adaptive observers. The estimates of the yield coefficient for oxygen consumption, the biomass concentration and specific growth rate are obtained then on the basis of the generated estimates using well known kinetic models of bioprocesses. With respect to previous similar approaches, the new estimation algorithm gives stable estimates not only of immeasurable state variable and reaction rates but likewise of an yield coefficient. The behavior of the proposed estimator is studied under inexact initial conditions, step changes of dilution rate and in the presence of measurement noise by simulations using a process model, which belongs to the investigated class of bioprocesses.     

An on-line adaptive glucose feeding system incorporating patterns recognition for glucose concentration control in glutamate fermentations

In glutamate fermentation, intermittent feeding is the most widely used glucose feed strategy. This feeding strategy causes severe fluctuations of glucose concentration and osmotic pressure in fermentation broth, which deteriorates the viability of the cell and reduces glutamate production in turn. In order to maintain glucose concentration at stable and constant levels, an on-line prediction and feedback control system based an empiric mass balance model was developed. However, the control system did not work properly and sometimes glucose concentration could even decline to 0 level (glucose exhaustion), as the model parameter varies in different runs. As a result, a novel model-based adaptive feedback control system incoporating with an artificial neural network (ANN) based pattern reconition unit for on-line diagnosizing the fault of glucose exhaustion was proposed and applied for glutamate fermentation. This adaptive control system could accurately detect glucose exhaustion when it occurs, and then immediately updates the control parameter based on some pre-defined rule. With the proposed control system, glucose was automatically fed, and its concentration could be maintained at desired levels constantly. As a result, glutamate concentration was 17 ~ 30% higher than that of the traditional fermentations using the intermittent glucose feed strategy.     

State and parameter estimation of microalgal photobioreactor cultures based on local irradiance measurement

Local photosynthetic photon flux fluence rate (PPFFR) determined by a submersible 4pi quantum micro-sensor was used in developing a versatile on-line state estimator for stirred-tank microalgal photobioreactor cultures. A marine micro-alga Dunaliella salina was used as a model organism in this study. On-line state estimation was realized using the extended Kalman filter (EKF), based on a state model of the photobioreactor and on-line local PPFFR measurement. The dynamic state model for the photobioreactor was derived based on mass-balance equations of the relevant states. The measurement equation was established based on an empirical correlation between the microalgal biomass concentration and the local PPFFR measured at a fixed point inside the photobioreactor. An internal model approach was used to estimate the specific growth rate without the need of state-based kinetic expression. The estimator was proven to be capable of estimating biomass concentration and specific growth rate, as well as phosphate and dissolved oxygen concentrations in a photobioreactor illuminated with either fixed or time-varying incident radiation. The quantum sensor was shown to be robust and able to quickly respond to dynamic changes in local PPFFR. In addition, the quantum sensor outputs were not affected by bubble aeration or agitation within the typical operating range. The strong filtering capacity of EKF gives the state estimator superior performance compared to direct calculation from the empirical biomass/local PPFFR correlation. This state estimation system makes use of inexpensive and reliable sensor hardware to report key process dynamics of microalgal photobioreactor cultures on-line, enabling improved operation of such a process.     

基于傅里叶变换近红外光谱实时分析1,3-丙二醇发酵过程生物量的在线监测方法

生物量是反映生物发酵过程进展的重要参数,对生物量进行实时监测可用于对发酵过程的调控优化。为克服目前主要采用的离线方法检测生物量时间滞后和人工测量误差较大等缺点,本研究针对1,3-丙二醇发酵过程设计了一个基于傅里叶变换近红外光谱实时分析技术的生物量在线监测实验平台,通过对实时采集光谱预处理以及敏感光谱段分析,应用偏最小二乘算法,建立了1,3-丙二醇发酵过程生物量变化的动态预测模型。以底物甘油浓度为60 g/L和40 g/L的发酵过程作为外部验证实验,分析得到模型的预测均方根误差分别为0.341 6和0.274 3,结果表明所建立的模型具有较好的实时预测能力,能够实现对1,3-丙二醇发酵过程中生物量的有效在线监测。     

Computational Effective Fault Detection by Means of Signature Functions

The paper presents a computationally effective method for fault detection. A system’s responses are measured under healthy and ill conditions. These signals are used to calculate so-called signature functions that create a signal space. The current system’s response is projected into this space. The signal location in this space easily allows to determine the fault. No classifier such as a neural network, hidden Markov models, etc. is required. The advantage of this proposed method is its efficiency, as computing projections amount to calculating dot products. Therefore, this method is suitable for real-time embedded systems due to its simplicity and undemanding processing capabilities which permit the use of low-cost hardware and allow rapid implementation. The approach performs well for systems that can be considered linear and stationary. The communication presents an application, whereby an industrial process of moulding is supervised. The machine is composed of forms (dies) whose alignment must be precisely set and maintained during the work. Typically, the process is stopped periodically to manually control the alignment. The applied algorithm allows on-line monitoring of the device by analysing the acceleration signal from a sensor mounted on a die. This enables to detect failures at an early stage thus prolonging the machine’s life.     

FRASystem: fault tolerant system using agents in distributed computing systems

In this paper, we present a fault tolerant and recovery system called FRASystem (Fault Tolerant & Recovery Agent System) using multi-agent in distributed computing systems. Previous rollback-recovery protocols were dependent on an inherent communication and an underlying operating system, which caused a decline of computing performance. We propose a rollback-recovery protocol that works independently on an operating system and leads to an increasing portability and extensibility. We define four types of agents: (1) a recovery agent performs a rollback-recovery protocol after a failure, (2) an information agent constructs domain knowledge as a rule of fault tolerance and information during a failure-free operation, (3) a facilitator agent controls the communication between agents, (4) a garbage collection agent performs garbage collection of the useless fault tolerance information. Since agent failures may lead to inconsistent states of a system and a domino effect, we propose an agent recovery algorithm. A garbage collection protocol addresses the performance degradation caused by the increment of saved fault tolerance information in a stable storage. We implemented a prototype of FRASystem using Java and CORBA and experimented the proposed rollback-recovery protocol. The simulations results indicate that the performance of our protocol is better than previous rollback-recovery protocols which use independent checkpointing and pessimistic message logging without using agents. Our contributions are as follows: (1) this is the first rollback-recovery protocol using agents, (2) FRASystem is not dependent on an operating system, and (3) FRASystem provides a portability and extensibility.     

Adaptive dynamic programming as a theory of sensorimotor control

Many characteristics of sensorimotor control can be explained by models based on optimization and optimal control theories. However, most of the previous models assume that the central nervous system has access to the precise knowledge of the sensorimotor system and its interacting environment. This viewpoint is difficult to be justified theoretically and has not been convincingly validated by experiments. To address this problem, this paper presents a new computational mechanism for sensorimotor control from a perspective of adaptive dynamic programming (ADP), which shares some features of reinforcement learning. The ADP-based model for sensorimotor control suggests that a command signal for the human movement is derived directly from the real-time sensory data, without the need to identify the system dynamics. An iterative learning scheme based on the proposed ADP theory is developed, along with rigorous convergence analysis. Interestingly, the computational model as advocated here is able to reproduce the motor learning behavior observed in experiments where a divergent force field or velocity-dependent force field was present. In addition, this modeling strategy provides a clear way to perform stability analysis of the overall system. Hence, we conjecture that human sensorimotor systems use an ADP-type mechanism to control movements and to achieve successful adaptation to uncertainties present in the environment.     

Fermentation fault management and on-line state estimation using methods of cluster analysis

The results of the cluster analysis of fermentation data are used for the supervision and on-line state estimation. The results of the classification are presented as the average over all fermentation runs belonging to the class as well as the standard deviation. With the help of the class information the on-line fermentation is associated with the best suiting class. Faults in the data such as spikes or total failure of the sensors are detected as the class information automatically supplies tolerance regions for the measurements. In case of a fault a reliable extrapolation for the time of the fault can be calculated. The approach is implemented in the real-time expert system tool G2 and is applied to data of the carbon dioxide evolution rate (CER) of an industrial antibiotic fermentation process.     

Nonlinear predictive control for maximization of CO2 bio-fixation by microalgae in a photobioreactor

In the framework of environment preservation, microalgae biotechnology appears as a promising alternative for CO₂ mitigation. Advanced control strategies can be further developed to maximize biomass productivity, by maintaining these microorganisms in bioreactors at optimal operating conditions. This article proposes the implementation of Nonlinear Predictive Control combined with an on-line estimation of the biomass concentration, using dissolved carbon dioxide concentration measurements. First, optimal culture conditions are determined so that biomass productivity is maximized. To cope with the lack of on-line biomass concentration measurements, an interval observer for biomass concentration estimation is built and described. This estimator provides a stable accurate interval for the state trajectory and is further included in a nonlinear model predictive control framework that regulates the biomass concentration at its optimal value. The proposed methodology is applied to cultures of the microalgae Chlorella vulgaris in a laboratory-scale continuous photobioreactor. Performance and robustness of the proposed control strategy are assessed through experimental results.     

动态MPCA在发酵过程监测与故障诊断中的应用

针对发酵过程非线性和时变特点,提出了一种具有实时性的动态MPCA方法,采用多模型非线性结构代替传统MPCA单模型线性化结构,克服了后者不能处理非线性过程和实时性的问题,并避免了MPCA在线应用时预报未来测量值带来的误差,提高了发酵过程性能监测和故障诊断的准确性。对头孢菌素C发酵过程的拟在线仿真研究,验证了基于动态MPCA的统计过程监测的有效性。     

Fault Diagnosis for the Heat Exchanger of the Aircraft Environmental Control System Based on the Strong Tracking Filter

The aircraft environmental control system (ECS) is a critical aircraft system, which provides the appropriate environmental conditions to ensure the safe transport of air passengers and equipment. The functionality and reliability of ECS have received increasing attention in recent years. The heat exchanger is a particularly significant component of the ECS, because its failure decreases the system’s efficiency, which can lead to catastrophic consequences. Fault diagnosis of the heat exchanger is necessary to prevent risks. However, two problems hinder the implementation of the heat exchanger fault diagnosis in practice. First, the actual measured parameter of the heat exchanger cannot effectively reflect the fault occurrence, whereas the heat exchanger faults are usually depicted by utilizing the corresponding fault-related state parameters that cannot be measured directly. Second, both the traditional Extended Kalman Filter (EKF) and the EKF-based Double Model Filter have certain disadvantages, such as sensitivity to modeling errors and difficulties in selection of initialization values. To solve the aforementioned problems, this paper presents a fault-related parameter adaptive estimation method based on strong tracking filter (STF) and Modified Bayes classification algorithm for fault detection and failure mode classification of the heat exchanger, respectively. Heat exchanger fault simulation is conducted to generate fault data, through which the proposed methods are validated. The results demonstrate that the proposed methods are capable of providing accurate, stable, and rapid fault diagnosis of the heat exchanger.     

Topology identification and dynamical pattern recognition for Hindmarsh–Rose neuron model via deterministic learning

Studies have shown that Parkinson’s, epilepsy and other brain deficits are closely related to the ability of neurons to synchronize with their neighbors. Therefore, the neurobiological mechanism and synchronization behavior of neurons has attracted much attention in recent years. In this contribution, it is numerically investigated the complex nonlinear behaviour of the Hindmarsh–Rose neuron system through the time responses, system bifurcation diagram and Lyapunov exponent under different system parameters. The system presents different and complex dynamic behaviors with the variation of parameter. Then, the identification of the nonlinear dynamics and topologies of the Hindmarsh–Rose neural networks under unknown dynamical environment is discussed. By using the deterministic learning algorithm, the unknown dynamics and topologies of the Hindmarsh–Rose system are locally accurately identified. Additionally, the identified system dynamics can be stored and represented in the form of constant neural networks due to the convergence of system parameters. Finally, based on the time-invariant representation of system dynamics, a fast dynamical pattern recognition method via system synchronization is constructed. The achievements of this work will provide more incentives and possibilities for biological experiments and medical treatment as well as other related clinical researches, such as the quantifying and explaining of neurobiological mechanism, early diagnosis, classification and control (treatment) of neurologic diseases, such as Parkinson’s and epilepsy. Simulations are included to verify the effectiveness of the proposed method.     

Node vulnerability under finite perturbations in complex networks

A measure to quantify vulnerability under perturbations (attacks, failures, large fluctuations) in ensembles (networks) of coupled dynamical systems is proposed. Rather than addressing the issue of how the network properties change upon removal of elements of the graph (the strategy followed by most of the existing methods for studying the vulnerability of a network based on its topology), here a dynamical definition of vulnerability is introduced, referring to the robustness of a collective dynamical state to perturbing events occurring over a fixed topology. In particular, we study how the collective (synchronized) dynamics of a network of chaotic units is disrupted under the action of a finite size perturbation on one of its nodes. Illustrative examples are provided for three systems of identical chaotic oscillators coupled according to three distinct well-known network topologies. A quantitative comparison between the obtained vulnerability rankings and the classical connectivity/centrality rankings is made that yields conclusive results. Possible applications of the proposed strategy and conclusions are also discussed.     

Nonlinear estimation of specific growth rate for aerobic fermentation processes

The specific growth rate of the biomass, a very important parameter of almost every fermentation process, cannot be measured directly or estimated from related variables, as the concentrations of biomass, substrates, or products, due to the lack of reliable and cheap sensors. In this article a stable adaptive estimator of the specific growth rate is designed for those aerobic processes where the measurement of the oxygen uptake rate is available on-line. This particular approach can be applied also for other reaction rates if the model of the process satisfies some very general assumptions, which make the dynamics of the measured reaction rate a nonlinear function only of two unknown parameters, the specific growth rate and its time derivative. With respect to a previous similar approach, the new estimator has one additional parameter and a different nonlinear structure. From the analysis of the dynamics of the estimation error, a tuning criterion is derived, by which the two different algorithms can be compared under similar conditions. Simulation results show a good performance of both estimators for various kind of processes and disturbances. (c) 1995 John Wiley & Sons, Inc.     

Indirect measurement of water content in an aseptic solid substrate cultivation pilot-scale bioreactor

A lack of models and sensors for describing and monitoring large-scale solid substrate cultivation (SSC) bioreactors has hampered industrial development and application of this type of process. This study presents an indirect dynamic measurement model for a 200-kg-capacity fixed-bed SSC bioreactor under periodic agitation. Growth of the filamentous fungus Gibberella fujikuroi on wheat bran was used as a case study. Real data were preprocessed using previously reported methodology. The model uses CO2 production rate and inlet air conditions to estimate average bed water content and average bed temperature. The model adequately reproduces the evolution of the average bed water content and can therefore be used as an on-line estimator in pilot-scale SSC bioreactors. To obtain a reasonable fit of the bed temperature, however, inlet air humidity measurements will have to be adjusted with a data reconciliation algorithm. Good estimation of temperature is important for the future design of improved water content estimation using state observers. The model also provides insight into understanding the complex behavior of the dynamic system, which could prove useful when establishing advanced model-based operational and control strategies.     

Modeling the partial nitrification in sequencing batch reactor for biomass adapted to high ammonia concentrations

Partial nitrification has proven to be an economic way for treatment of industrial N-rich effluent, reducing oxygen and external COD requirements during nitrification/denitrification process. One of the key issues of this system is the intermediate nitrite accumulation stability. This work presents a control strategy and a modeling tool for maintaining nitrite build-up. Partial nitrification process has been carried out in a sequencing batch reactor at 30 degrees C, maintaining strong changing ammonia concentration in the reactor (sequencing feed). Stable nitrite accumulation has been obtained with the help of an on-line oxygen uptake rate (OUR)-based control system, with removal rate of 2 kg NH4 (+)-N x m(-3)/day and 90%-95% of conversion of ammonium into nitrite. A mathematical model, identified through the occurring biological reactions, is proposed to optimize the process (preventing nitrate production). Most of the kinetic parameters have been estimated from specific respirometric tests on biomass and validated on pilot-scale experiments of one-cycle duration. Comparison of dynamic data at different pH confirms that NH3 and NO2- should be considered as the true substrate of nitritation and nitratation, respectively. The proposed model represents major features: the inhibition of ammonia-oxidizing bacteria by its substrate (NH3) and product (HNO2), the inhibition of nitrite-oxidizing bacteria by free ammonia (NH3), the INFluence of pH. It appears that the model correctly describes the short-term dynamics of nitrogenous compounds in SBR, when both ammonia oxidizers and nitrite oxidizers are present and active in the reactor. The model proposed represents a useful tool for process design and optimization.