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Developing HERMS Temperature Control: A Study on PID-P and PI-P Cascade Control
(2025-01-01)
Panaudomsup, Sumit
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Subhagandha, Thanachok
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Chanma, Kittidach
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Boksuwan, Sungwan
The Heat Exchange Recirculating Mash System (HERMS) is widely utilized in craft brewing to maintain precise temperature control during the mashing process, which is critical for optimizing enzymatic activity and mash efficiency. This study explores the performance of two cascade control configurations: (1) a PID-P system, where an outer PID loop regulates an inner P loop, and (2) a PI-P system, where an outer PI loop regulates an inner P loop. The system was modeled using First-Order (FO) models, with control parameters optimized using Skogestad's tuning method. Simulations in MATLAB Simulink and real-world experimental validation were conducted to evaluate temperature stability, response time, energy efficiency, and wort quality. Results demonstrate that while both control strategies effectively maintain mash temperature, the PI-P configuration offers improved energy efficiency and reduced power fluctuations, making it more suitable for precision brewing applications. These findings contribute to optimizing HERMS temperature control, enhancing consistency, and reducing energy consumption in both home and industrial brewing setups.
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Developing Efficient Temperature Control for HERMS: A Study on P, P-Logic, PI, and PID Controllers
(2025-01-01)
Subhagandha, Thanachok
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Boksuwan, Sungwan
The Heat Exchange Recirculating Mash System (HERMS) is widely used in craft brewing to maintain precise temperature control during the mashing process, which is crucial for achieving optimal sugar extraction and mash efficiency. This study investigates the performance of four different temperature control strategies-P, P-logic, PI, and PID-in maintaining the desired mash temperature profile. The system was modeled using both First-Order Plus Delay (FOPD) and Second-Order Plus Delay (SOPD) models to optimize controller gains through Skogestad's method. Validation of the control strategies was conducted through simulations in MATLAB Simulink. The results showed that while P-logic control maintained stable temperature with 0% overshoot, PI and PID controllers achieved the same with only 30% input energy, compared to 100% used by P-logic. A real-world mashing is conducted with P-logic control. Wort quality was also assessed, with specific gravity, pH, and mash efficiency analyzed. This study highlights the trade-offs between control precision and energy consumption, providing valuable insights for improving HERMS system efficiency in both homebrewing and commercial applications.
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Matlab Platform Remote Control System Experiments
(2023-01-01)
Boksuwan, Sungwan
The paper proposes the remote experiment that enables a student to conduct the physical control system experiment through the internet. The remote experiment is designed using MATLAB platform to create the user interface and to analyze the results. A DC motor controlled by PI controller is utilized as the physical system for demonstrating the effectiveness of the proposed system. Interface module with a dsPIC microcontroller is in charge of implementing a control loop and connecting between a user interface and a physical system. The experimental results reveal that there are a little delay times in live video monitoring but it does not affect the closed-loop control system and it can still be run in real time.
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The Study of Sementic Deep Learning Segmentation for Durian Orchard
(2023-01-01)
Boksuwan, Sungwan
The paper comparatively studies a deep learning based semantic segmentation for segmenting durian orchard environments using MATLAB platform. Experiments consist of four treatments that are the combinations of Deeplabv3+ with base networks including Resnet-18, Resnet-50, Xception and Interceptionresnetv2. IoU metric is utilized as the performance index. The environment is segmented into five classes. The experimental results tested by ANOVA reveal that base networks do not result in a different performance for the class of sky, tree, grass, and road but show different performance for background class.
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Simplified modelling and backstepping control of the long arm agricultural rover
(2020-12-01)
Wongvanich, Napasool
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Boksuwan, Sungwan
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Chesof, Abdulhafiz
This paper presents the development of the simplified modelling and control of a long arm system for an agricultural rover, which also extends the modelling methodology from the previous work. The methodology initially assumes a flexible model and, through the use of the integral-based parameter identification method, the identified parameters are then correlated to an energy function to allow a construction of the friction induced nonlinear vibration model. To also capture the effect of the time delay, a delay model was also considered in the form of a second order delay differential equation. Both families of models were applied to identify and characterise a specialised long arm system. The nonlinear model was found to give significant improvement over the standard linear model in data fitting, which was further enhanced by the addition of the time delay consideration. A backstepping controller was also designed for both model families. Results show that the delay model expends less control efforts than the lesser non-delay model.
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Agricultural Mobile Robot Body Vibration Characterization Using Integral Based Methodology
(2019-04-01)
Boksuwan, Sungwan
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Chesof, Abdulhafiz
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Wongvanich, Napasool
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Panaudomsap, Sumit
This paper presents the application of integral based method for characterization of the vibration in the four-wheel agricultural mobile robot, which is designed for use in applications such trimming, spraying and harvesting. Vibration occurs when one of the wheels does not touch the ground which reduces an effective of end effector. In order to design an effective controller, an accurate mathematical model is needed. Results show that the proposed method can simplify the system identification procedure, while yielding excellent match in comparison to the standard black box method. The proposed algorithm gave an NRMSE match of 96.8%, while the standard method yielded a 76.1% match. This match is also found to be lower when the validation data was from other experiments.
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A prototype system to count nursery pacific white shrimp using image processing
(2018-12-10)
Boksuwan, Sungwan
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Panaudomsup, Sumit
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Cheypoca, Thepjit
This paper proposes a counting system for estimating the biomass of nursery-stage pacific white shrimp in an indoor cultured tank using an image processing technique. The outcome is to reduce an over feed and water quality issue. As a result, it leads to the reduction of an operation cost in an indoor production system because the operation cost is mainly caused by feed and water treatment. Shrimp’s biomass is directly used to determine an amount of feed. In Thailand, farmers currently use the sampling cup to sample and estimate a shrimp density. This traditional method depends on the experience and provide roughly estimation. Moreover, farmers are facing a labor issue. The proposed system is designed to estimate a shrimp’s density automatically. The system consists of a sampling cup, sampling mechanism and counting unit. In image processing, colour, size and shape are used as three main features of the nursery-stage shrimp for distinguishing from their environments. The proposed method leads to more precise estimation of the density. The experimental results obviously reveal the effectiveness of the proposed system.
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Evaluation of explicit model predictive temperature control for on-off air conditioner
(2017-12-13)
Chesof, Abdulhafiz
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Boksuwan, Sungwan
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Panaudomsup, Sumit
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Cheypoca, Thepjit
The objective is to evaluate the performance of an explicit model predictive control for controlling the room temperature actuated by the on-off air conditioner to minimize the energy usage by reducing the working time of a compressor. There are a lot of on-off air conditioners already installed in the educational building in Thailand. To replace all of those by the inverter air conditioner or HVAC system, the high investment cost is required. Therefore, the on-off air conditioners continue to work in such building. The effective solution may be the low cost control unit which is simple like a remote control. The method is to design the remote control embedded by the temperature sensor and the explicit model predictive control that is based on the off-line optimization. The experiment is performed in the laboratory room with dimension 4×7×3.5 m (WxLxH) actuated by Saijo Denki 18,320 Btu on-off air conditioner. The experimental results reveal that the temperature reaches the desired value 25 degree Celsius within 10 minute and keeps fluctuating between 23 and 26 degree Celsius. The working time of compressor is reduced 33.33 %. The result shows that the explicit model predictive control is effective for the remote control application in terms of the implementation and energy saving.
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High performance periodical paths tracking of two-dimensional handheld micromanipulator using explicit model predictive control
(2017-02-18)
Boksuwan, Sungwan
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Cheypoca, Thepjit
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Chesof, Abdulhafiz
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Kanamori, Chisato
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Panaudomsup, Sumit
The paper proposes an explicit model predictive control framework for a two-dimensional handheld micromanipulator to track periodical reference paths within microscopic working range and for all holding angles of users' hand. The control objective is to achieve a minimum tracking error and a wide bandwidth. The micromanipulator's design is oriented to such bio cell treatments. Its structure consists of two flexible decoupling links, each of which is driven by the combination of electric coils and permanent magnets as an actuator. In the experiments, the proposed framework is compared with two types of PID controllers, parameters of which are designed by Skogestand's IMC and IMC method based on the underdamped transfer function, respectively. The experimental results exhibit the effectiveness of the two-dimensional handheld micromanipulator controlled by the model predictive control framework over the PID controller ones.
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A heated needle micromanipulator with hybrid control for heat-caused denaturation in proteins
(2015-08-25)
Boksuwan, Sungwan
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Benjanarasuth, Taworn
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Aoyama, Hisayuki
The paper proposes a micromanipulator with the heated needle as an end effector in order to transfer heat around a micro area of a sample, egg whites. The proposed micromanipulator is controlled by a combination of an explicit model predictive control and PID controller, so-called the hybrid control, to accomplish tracking performances of several reference paths or shapes of heating the specific area. A tungsten needle wrapped with nichrome wire is used as a heat source mechanism and is connected to the two dimensional micromanipulator. The experimental results reveal that the heated needle can provide high temperature up to 50°C with 10μm needle tip diameter. In addition, the results indicate the effective operations for a point heating and denaturing egg whites in micro scale. Moreover, the heated needle is able to heat along the desired paths (a circle, ellipse, square or triangle) with the error less than 2μm from the center of measurement.

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