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Emil Zaev

Bio: Emil Zaev is an academic researcher from Saints Cyril and Methodius University of Skopje. The author has contributed to research in topics: Hydraulic machinery & Computer science. The author has an hindex of 4, co-authored 17 publications receiving 44 citations.

Papers
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Proceedings ArticleDOI
10 Jun 2018
TL;DR: One possible methodology for control, reduction and optimization of water loss in the communal water supply system is recommended, with efficient usage of modern SCADA systems implemented to existing water supply systems, becoming integral part in the new optimized operational management and control system of communal water Supply companies.
Abstract: Drinking water reserves are not infinite natural resource. Rapid social development generates huge pollution of all of the environment, including surface and underground drinking water reserves. One of the biggest challenges in management and control of modern city water supply system is to retain uninterrupted supply with chemically and biologically safe drinking water. Real-time monitoring systems of the water quality and quantity parameters gives us on-time alert and more time for reaction. The possible solution for this challenge is presented. Real-time measuring station using industrial SCADA system and optimization of the system is recommended. SCADA system provides continuous monitoring of the many physical, chemical and biological parameters enabling fast and reliable detection of the deviations in system. Saved data give chance for additional analysis of the measured parameters and dependencies between. One possible methodology for control, reduction and optimization of water loss in the communal water supply system is recommended, with efficient usage of modern SCADA systems implemented to existing water supply systems, becoming integral part in the new optimized operational management and control system of communal water supply companies.

17 citations

Proceedings ArticleDOI
12 Jun 2016
TL;DR: This SCADA system provides continues (24/7) monitoring of the diverse physical, chemical, biological parameters enabling fast and reliable detection of the pollutants.
Abstract: Protection of the natural water resources becomes more and more important issue. Usual way to deal with this problem is to build on-site monitoring station capable for independent measurement of water quality parameters where all the measurement equipment is installed and where all measurements are done. But, in this case a dedicated person is needed which on regular basis will collect the data from the station, in order to compare them with laboratory measurements. In this way, delay between emerging and noted data is introduced. It is here presented possible solution of this problem developing completely independent real-time measuring station using industrial SCADA system. Real-time monitoring of the water quality and quantity parameters gives on-time alert and time for reaction. This SCADA system provides continues (24/7) monitoring of the diverse physical, chemical, biological parameters enabling fast and reliable detection of the pollutants. Saved data give chance for additional (off-site) analysis of the measured parameters and their connections. System is consisted of Central Monitoring Station (located at the Faculty of Mechanical Engineering in Skopje), Local Monitoring Station (located near town Demir Kapija), and several mobile monitoring stations. Specially designed Local Monitoring Station has been automated with the use of industrial PLC in order to integrate the work of all diverse instruments, real-time measuring devices, analytical measuring devices and station functionality equipment. Data gathered at the Remote real-time stations is continuously sent to CMS for further analysis.

13 citations

Proceedings Article
19 Jun 2012
TL;DR: Real-time testing of the controllers for hydropower plant speed governors using Hardware-in-the-loop is standard testing procedure in controller design procedure and the efficiency and security of the speed governor can be improved.
Abstract: Today Hardware-in-the-loop is standard testing procedure in controller design procedure. Once the design of the controller is completed using off-line desktop simulations and the algorithm is transferred in C code, it is necessary to test the code as well as the final controller for his capabilities of running in real-time. In the process of designing the hydro turbine speed governor this is more than necessary since the controller and the real hydraulic actuator are integrated part. With the purpose of real-time testing of the controllers for hydropower plant speed governors a general model of a Hydro power plant with Francis turbine is created using Matlab/Simulink. The model is then translated to C code using Matlab Real-Time Workshop and run in real-time on a powerful industrial PLC. Through I/O interface the virtual hydro power plant and real speed governor (actuator together with controller) are combined as a closed loop control system. Easy parameter changing and monitoring of the whole process is accomplished through PC program which is in communication with the real-time simulation system through Object Linking and Embedding (OPC) connection. With this testing bench the controller can be tested in two ways: together with the real hydraulic actuator or a scaled physical model of it, if the real hydraulic actuator is available or with the real-time model of the hydraulic actuator if the real hydraulic actuator is not available. In this way we can examine and adjust the performance of governor before installing it to the power plant. By using this test system, the efficiency and security of the speed governor can be improved.

7 citations

Proceedings ArticleDOI
08 Jun 2020
TL;DR: This paper presents application of Fuzzy Logic Controller (FLC) and PID controller, which will deal with, signal processing of three sensors as inputs of FLC and two outputs which are left and right motors as actuators.
Abstract: Mobile Robot navigation in real environment, detecting and avoiding static and dynamic obstacles is still a challenging task even counting new technology development. This consists, on methods and algorithms applied in order to achieve most optimal results. We present application of Fuzzy Logic Controller (FLC) and PID controller, which will deal with, signal processing of three sensors as inputs of FLC and two outputs which are left and right motors as actuators. Outputs from FLC will be sent to PID controller in order to get better and more accurate results for mobile robot navigation respectively more exact robot movement. In this paper is presented, a navigation of the mobile robot via FLC and PID controller.

7 citations

Proceedings ArticleDOI
20 Dec 2017
TL;DR: An optimal control approach based on the Hamiltonian is used to plan a motion path for a separate meter-in and meter-out proportional control of hydraulic cylinders to avoid oscillations at the end of the motion in the sense of active vibration damping.
Abstract: Individual meter-in and meter-out proportional control of hydraulic cylinders allow more flexible strategies how to handle a payload while optimising certain aspects of the motion. An optimal control approach based on the Hamiltonian is used to plan a motion path for a separate meter-in and separate meter-out system. One goal is to avoid oscillations at the end of the motion in the sense of active vibration damping. With the mathematical model presented, it is possible to include the cylinder pressures into the optimisation goals. Not only the the final values for position and speed of the load can be acquired, but also desired values for the pressures at the end of the motion. Maintaining a minimum pressure level is important in order to avoid cavitation and to keep the stiffness of the system. The course of the pressures follows from the design of the motion and will reach the desired values in an open loop control. In order to estimate the computing effort, the algorithm was tested on three platforms. One of those is an ARM-based hardware that represents the computing power of modern embedded systems, to demonstrate that an implementation on such system is possible. Several motion experiments were carried out in simulation to study the behaviour and to discuss application issues.

5 citations


Cited by
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Journal ArticleDOI
TL;DR: This paper designs a water quality monitoring system combined with the computer image processing technology and use computer vision to analyze the fish behavior in real-time for monitoring the existence or not of water pollution, and can achieve more accurate multi-level classification than the shallow neural network, such as RNN.
Abstract: Water pollution has seriously threatened our life, so an effective water quality monitoring mechanism is the most important part of water quality management. Most studies use biological monitoring methods to monitor water pollutants, such as pesticides, heavy metals, and organic pollutants. However, there are still many difficulties at present. Few methods consider the influence of illumination and complex background in the monitoring environment, and the characteristics parameters extracted in the systems are single. In addition, the results of using shallow neural networks for water quality classification are often not ideal. In order to solve the above problems, we design a water quality monitoring system combined with the computer image processing technology and use computer vision to analyze the fish behavior in real-time for monitoring the existence or not of water pollution. For the illumination problem, we use the no-reference quality assessment algorithm based on natural scene statistics for contrast distortion images to evaluate the video and configure the lighting conditions of the monitoring environment. White balance preprocessing is also performed to provide a great basis for moving target detection. Besides, we use background modeling to eliminate the influence of complex background on the moving target detection and the foreground is extracted using the saliency detection algorithm. In order to comprehensively analyze the influence of water quality on the fish behavior from the extracted foreground targets, multi-dimensional feature parameters are used to quantify the indicators, including movement velocity, rotation angle, spatial standard deviation, and body color which characterize the behavior changes of the fish. Finally, the classification model based on the long short-term memory neural network is used to classify the feature parameters data of the fish behavior in different water quality environments. In this paper, red zebra fish is used as the indicator organism and copper sulfate solution is used as the toxic pollutant to simulate the water pollution. Experiment results show that the classification accuracy rate of water quality using the proposed system can reach 100% at level 2 classification (93.33% at level 3 and 91% at level 4). Our system can achieve more accurate multi-level classification than the shallow neural network, such as RNN, and it is faster for real-time monitoring with a high reference for the water environment emergencies.

34 citations

Journal ArticleDOI
TL;DR: The paper reviews the state of art hydraulic technologies and indicates the links between them and IM, and reviews the different types of hydraulic valves used when implementing IM.
Abstract: The subject of this paper is the review of advanced technology used in hydraulic systems. The technology in question is termed Independent Metering (IM); this is used in hydraulically driven mobile machinery, such as agricultural, construction, municipal, and forestry vehicles. The idea behind the concept is to modify the connection between the actuator, which could be a cylinder or a motor, and a flow control valve. Traditionally, spool hydraulic valves were used to control the fluid flow into and out of hydraulic actuators. This keeps the meter-in and the meter-out of the actuator mechanically connected due to the construction of these valves. This connection makes the control system blind to pressure changes in one of the hydraulic chambers in the actuator. This, in turn, reduces the overall system controllability. It also increases energy losses, especially under an overrunning load. These two main weaknesses led researchers to break this mechanical connection and get into a new technology with different characteristics. The proposed technology was called Independent Metering. New and more complex control techniques can now be applied to the hydraulic systems using this technology that were not possible before or could be applied to more conventional servo design. This paper reviews Independent Metering (IM) and the technologies used or developed in this field to date. The paper reviews the state of art hydraulic technologies and indicates the links between them and IM. It also reviews the different types of hydraulic valves used when implementing IM. This review also discusses some control algorithms, IM layouts, IM challenges, and identifies where further improvements may be achieved.

20 citations

Journal ArticleDOI
TL;DR: In this article, a numerically efficient model for real-time simulation of a steam power plant is presented, which can be easily compiled for a RT target (such as a Texas Instrument DSP) in order to be executed in Real Time on a low cost industrial hardware.

19 citations

Proceedings ArticleDOI
10 Jun 2018
TL;DR: One possible methodology for control, reduction and optimization of water loss in the communal water supply system is recommended, with efficient usage of modern SCADA systems implemented to existing water supply systems, becoming integral part in the new optimized operational management and control system of communal water Supply companies.
Abstract: Drinking water reserves are not infinite natural resource. Rapid social development generates huge pollution of all of the environment, including surface and underground drinking water reserves. One of the biggest challenges in management and control of modern city water supply system is to retain uninterrupted supply with chemically and biologically safe drinking water. Real-time monitoring systems of the water quality and quantity parameters gives us on-time alert and more time for reaction. The possible solution for this challenge is presented. Real-time measuring station using industrial SCADA system and optimization of the system is recommended. SCADA system provides continuous monitoring of the many physical, chemical and biological parameters enabling fast and reliable detection of the deviations in system. Saved data give chance for additional analysis of the measured parameters and dependencies between. One possible methodology for control, reduction and optimization of water loss in the communal water supply system is recommended, with efficient usage of modern SCADA systems implemented to existing water supply systems, becoming integral part in the new optimized operational management and control system of communal water supply companies.

17 citations