Journal of Food Engineering 68 (2005) 197207 www.elsevier.

com/locate/jfoodeng

Computer simulation of fuzzy control system for gari fermentation plant

Odejobi A. Odetunji
a

a,*

, Owolarafe O. Kehinde

Information Systems Engineering Group, Department of Computer Science, School of Engineering and Applied Science, Aston University, Birmingham B4 7 ET, United Kingdom b Department of Agricultural Engineering, Obafemi Awolowo University, Ile-Ife, Osun state, Nigeria Received 18 November 2003; accepted 26 May 2004

Abstract In this paper we present the development of a fuzzy logic based process control system for gari fermentation plant and describe its operation by way of simulation. The model was formulated using the TakagiSugeno (TK) fuzzy controller approach. Experiments with models of the system were conducted using MATLAB 6.0 in Windows 2000 XP running on Intel 2Gh environment. The algorithm for the control system is implemented in MATLAB 6.0 using the fuzzy logic toolkit. The results obtained are compared to those for optimum control of the process. For example, we obtain a Mean Square Error (MSE) of 0.643, 0.511, and 0.512 for three experiments conducted for temperature control in the environment. Also, for the pressure variable, we obtained MSE of 0.856, 0.234, and 0.214 respectively for the three separate experiments. These results suggest that, if implemented, this approach can produce fast control response, more eective control, reduced energy consumption and at the same time facilitating the production of better quality fermented and dewatered pulp. 2004 Elsevier Ltd. All rights reserved.

1. Introduction Gari is the staple diet, in many West Africa countries, produced from cassava (Manihot esculenta Crantz) (Adeboye, 1989). Cassava is a tropical root crop found in the low-level humid tropical regions of the world such as West Africa and gari is the largest edible processed food produced from cassava. About 70% of the total cassava roots output are processed into gari (Owolarafe, Adesope, Sanni, Taiwo, & Ajibola, 2000). Cassava can be classied as bitter (high cyanide) or sweet (low cyanide) based on its constituent cyanogenic glucosides (bound cyanide) (Adeboye, 1989; Owolarafe et al., 2000). After harvesting, the manufacture of gari from cassava follows a procedure consisting of several unit
Corresponding author. E-mail addresses: odejoboa@aston.ac.uk (O.A. Odetunji), owolarafe@yahoo.com (O.O. Kehinde). 0260-8774/$ - see front matter 2004 Elsevier Ltd. All rights reserved. doi:10.1016/j.jfoodeng.2004.05.032
*

operations which include; cassava peeling, grating or chipping, fermentation and dewatering, pulverizing, frying or roasting, cooling, and packaging (Steghart & Wholey, 1984) (see Fig. 1). The combined process of fermentation and dewatering considerably aects the quality of gari produced and is therefore regarded as an important process in gari production. This is because the fermentation process has been shown to have direct eect on the detoxication of cassava mash since an increase in the period of fermentation reduces the level of cyanide content in cassava mash (Ikhu-Omoregbe & Uyaebo, 1998). If the cyanide content in the nal gari product is high, the product becomes poisonous and unt for consumption. If no catalyst is used, the duration of the fermentation process is directly proportional to the amount of cyanide contents in the cassava mash being processed (Owolarafe et al., 2000). Also a temperature of about 35 C has been shown to be the optimum for the fermentation of most species of cassava

198

O.A. Odetunji, O.O. Kehinde / Journal of Food Engineering 68 (2005) 197207

Cassava tubers

Peeling/Washing

Grating

Dewatering/Fermentation

Pulverising

Frying/Cooling

Packaging
Fig. 1. Flowchart of gari processing operation with the dewatering and fermentation process highlighted.

in this manner (Wang & Qiu, 2003; Zadeh, 1996). Firstly, the system need not be modelled using a complicated mathematical construction. Secondly, expert experience of the gari dewatering and fermentation process, in the form of natural language, can easily be coded as fuzzy rules for describing the systems behaviour. Thirdly, system behaviour can be easily and rapidly implemented and tuned. Consequently, future modication can be achieved easily. The present paper discusses the development of the fuzzy logic based Gari Fermentation and Dewatering Process (GFDP) control system. We focus on the architecture, systems identication, and fuzzy membership function and inference engine design. Related works are reviewed in Section 2. A brief description of the system architecture is provided in Section 3. The control system design is presented in Section 4, with emphasis on the consequence and premise parameters identication. In Section 5, an illustration of the developed model is discussed while results of simulation experiments were provided in Section 6. Section 7 concludes the paper.

(Ikhu-Omoregbe & Uyaebo, 1998). For ecient gelatinization (frying) process, the cassava mash is dewatered to about 50% moisture content (wet basis). Traditionally the dewatering and fermentation processes are carried out simultaneously taking up to 4890 h. In industrial plants, however, the fermentation process is performed rst and its takes about two to 24 h (Ajibola, Makanjuola, & Almazani, 1987). The fermented pulp is afterwards dewatered using a hydraulic or screw press which normally takes between 30 min to 1 h. For the purpose of automatic process control, it is desirable that these processes are performed in parallel since by so doing it will be possible to reduce the total processing duration and facilitate the design of a single control system for both operations. Besides, the gradual dewatering of cassava during fermentation will make the taste of the gari produced to be similar to that obtained in traditional processing, which is usually preferred to fast dewatered pulp using a hydraulic or screw press. The need to monitor and control the variables that dene the environment in this process that is, temperature, acidity in terms of pH value, pressing pressure and moisture content as well as processing period, is very important and informed some research eorts (Ajibola et al., 1987; Ikhu-Omoregbe & Uyaebo, 1998). In this paper we examine the gari fermentation and dewatering process through the design and simulation of a computerized intelligent control mechanism for the process. The knowledge about the gari fermentation and dewatering process is represented as fuzzy ifthenrules that associates input data with output control signals. Fuzzy rules are dened in a form close to natural language and represent the complete knowledge necessary to control the process in various situations. There are three main advantages for using fuzzy controllers

2. Related works Available literature (Massaquoi, Sormana, & Koroma, 1990; Odejobi, 1996; Onabolu, Bokanga, & Rosling, 1999) shows that there has not been any reported practical attempt at applying intelligent process control technique to gari processing operations in general, and gari fermentation and dewatering processes in particular. In modern industrial process control, intelligent control systems are normally employed in situations where physical parameters such as heating temperature, pressure and cooling need to be monitored and controlled in order to achieve a required product quality. Traditionally, Proportional-Integral-Derivative (PID) controllers are commonly used in industrial process control (Zavarei & Jamshidi, 1987; Ranganathan, Malki, & Chen, 2002). PID controllers are simple in structure, reliable in operation and robust in performance, particularly in linear system modelling. However, PID controllers are generally unsuitable for non-linear system modelling and they fail considerably when used to model systems described using complex and vague specication as well as systems in which there is no precise mathematical model, such as gari fermentation and dewatering. In recent times the Articial Neural Networks (ANN) (Khanmohammadi, Hassanzadeh, & Sharian, 2000; Valdez-Castro, Baruch, & Barrera-Cortes, 2003) has also been proposed and applied in industrial process control. Although they are able to model non-linear system, the tendency of ANN to get stuck at local optimum performance, whereas better performance can be obtained globally (Lau, Wong, & Ning, 2001; Lee, 1990), has made them unsuitable

O.A. Odetunji, O.O. Kehinde / Journal of Food Engineering 68 (2005) 197207

199

for the kind of control application required in gari fermentation and dewatering. Fuzzy logic on the other hand has gained popularity as an eective approach to design and simulation of process control systems, particularly for industrial food processing (Alvarez, Cancela, Correa, Navaza, & Riverol, 1999). This is because, fuzzy logic provides the intelligent system engineer with a framework for modelling non-linear control through a formal mechanism for describing vague and linguistic terms such as Temperature is High, Pressure is Low, etc. Besides, fuzzy logic is conceptually easy to understand, exible and tolerant of imprecise data and can model complex non-linear behaviour inherent in gari fermentation and dewatering. Fuzzy control has traditionally been implemented in a microprocessor (Lee, 1990; Li & Lau, 1989) but can also be implemented in dedicated VLSI chips hence making it easier to convert a model into an embedded system. Fuzzy logic modelling techniques can be classied into three categories, namely: the linguistic, the relational equation and the Takagi and Sugeno (TS) (Takagi & Sugeno, 1985). The major dierence between these approaches is in the way the consequences of rules are computed. We adopted the TK approach because it has been shown to be very eective in modelling nonlinear dynamic systems (Salehfar, Bengiamin, & Huang, 2000; Johansen & Babuska, 2003). When the T S approach is combined with classical control theory it yields a very powerful system that is easy to implement and tune.

3. Architecture of the fuzzy-logic based GFDP plan The conguration and interaction between components of the fuzzy-logic based GFDP is as shown in Fig. 2. The respective parameters that dene the environment for the process plant, namely: temperature, pressure, moisture contents, and acidity (pH) are read in through their respective sensors (see Table 1). A sample rate of between 10 samples to 20 samples per minutes is assumed. A microcontroller is responsible for data acquisition, via sensors, and regulation of the nal control signal for the actuation of the plant. The communication between the microcontroller and the host computer is via an RS-232 port (Carrasco, Rodriguez, Pundal, Roca, & Lema, 2002). The sampled data are represented in the computer memory as real value data, accurate to 2 decimal places (Linkens & Cheng, 1999). The computation of the output control signal is carried out by three distinct components of the system, namely: fuzzication, inference engine, and defuzication. The fuzzication process converts the input signal into fuzzy sets by converting the numeral data from the environment signal sensors into linguistic data. For example, a temperature with a numerical value of 90 C could be represented linguistically as High while 10 C would be represented as Low. The inference engine takes the linguistic output of the fuzzication process as input and manipulates them based on the expert knowledge coded as rules in the fuzzy knowledge base. It then converts the result of the manipulation into a description of

GFDP fuzzy knowledge base

Sensors data

fuzzification

Defuzzification Fuzzy inference

Actuators data
Temperature Gain Pressure Gain Processing Duration

Temperature Pressure pH MoistureC

Microcontroller interface

Host computer RS-232 port

Sensor signal

Actuator control

Gari fermentation and dewatering plant

Fig. 2. Architecture of the fuzzy-logic based gari fermentation and dewatering plant controller.

200

O.A. Odetunji, O.O. Kehinde / Journal of Food Engineering 68 (2005) 197207

Table 1 Optimum parameters for the fermentation and dewatering process Parameter/unit Temperature (C) Pressure (kg m1 s2) Acidity (pH)mg/100g Moisture contents (%) Symbol Temp Prss PH MoCon Optimum range 35.00, 38.00 1.30, 1.50 7.00, 8.00 40.00, 55.00

The parameter identication on the other hand consists of premise and consequence parameter identication. Since structure identication is independent of a format of system description (Lee, 1990) we focus on the parameter identication for the GFDP. 4.1. Consequence parameter identication Identifying the consequent part requires that linear equations, that account for both linearity and continuity, are derived from inputoutput data. The optimum consequence parameters are obtained using a performance index based on minimising root mean square of the output errors. If we represent the rule based for the GFDP as follows: Ri : IF x1 IS li1 AND . . . AND xk IS lik THEN y i pi0 pi1 x1 pik xk ; i 1; 2; . . . ; N : 2 Then the output y for the input (x1,x2,. . .,xk) is obtained as
Pn y
i i1 l1 xi

the output signal for controlling the process. For example if the sample temperature is High then the function to generate temperature gain should produce output that will reduce the temperature appropriately. This situation would be repeated until the temperature is maintained in the range designated as normal. The inference engine is supported by a fuzzy knowledge base which can be modied to represent data for dierent species of cassava and dierent types of pulp desired for making dierent types of gari. The nal stage of the fuzzy control is the defuzication process. At the end of the defuzifucation process the numerical or crisp value corresponding to the desired control step is generated. For example, the temperature could be raised or reduced by 2 C as the case may be. The variables used to specify the gari fermentation and dewatering environment are as listed in Table 1. The data in Table 1 for each variable are obtained from documented history of manual gari fermentation and dewatering operations. 4. Control system design The GFDP plant can be described using a fuzzy model of the form
k k k Ri : IF xk i IS li1 AND . . . AND xr IS lir k k k THEN y k i p i0 p i1 u1 p ir ur ;

^ . . . ^ lin xn pi0 pi1 x1 pik xk Pn : i i i1 l1 xi ^ . . . ^ ln xn

3
The symbol ^ stands for the AND connective or the minimum operator. If li xi ^ . . . ^ lin xn : a i Pn 1 i i i1 l1 xi ^ . . . ^ ln xn Then we can express Eq. (3) as n X y ai pi0 pi1 x1 pik xk :
i1

i 1; 2; . . . N ; 1 where r = 4 and l = 3 are number of input variables and output variables respectively. N is the number of rules used to dene the behaviour of the model. k xk i i 1; 2; 3; 4 and y i i 1; 2; 3 are the input and the local output variables respectively. lk i 1 ; 2 ; . . . ; l ; j 1 ; 2 ; . . . ; r are the degree of truth ij associated with respective input variables. Eq. (1) is the well known TakagiSugeno (TS) (Takagi & Sugeno, 1985) model. A crucial step in the design of TS based controller is to determine a set of local inputoutput relations which describe the nonlinear control process. This stage of the modelling is referred to as identication. The identication and parameter adjustment for the fuzzy model adopted in this work is divided into two steps, namely: structure identication and parameter identication. The structure identication consists of the premise and consequence structure identication.

Using the inputoutput raw data from records of previous gari fermentation and dewatering process, set of cases are represented as x1j, x2j, . . ., xkj ! yj (j = 1, 2, . . ., m). Here xkj is the input case j correspond to variable k, for example pressure at an instance, and yj is the corresponding value of the output, for example pressure gain. Using the data le generated as input to computer programme we obtain the consequence parameter vector P pi0 , pi1 ; . . . ; pik i 1; 2; 3; . . . ; n by the following algorithm. Let the input matrix be written as X(m n(k + 1)) and the output and parameter vectors are written as Y(m) and P(n(k + 1)) respectively. P can then be computed by the product of two terms. The rst term is the inverse of the product of the input matrix X and its transpose, i.e. XT. The second term is the Transpose of X and vector Y. This is formally stated as follow: P X T X 1 X T Y : 6

Each pi 2 P is then determined using an algorithm based on stable-state Kalman lter for calculating the param-

O.A. Odetunji, O.O. Kehinde / Journal of Food Engineering 68 (2005) 197207

201

eters of the linear algebraic equation that gives the least squares of errors. Let the ith row vector of matrix X be xi and the ith element of Y be yi. Then P is recursively calculated by Eqs. (7) and (8) P i1 P i S i1 xi1 y i1 xi1 P i and S i1 S i S i xi xi1 ; 1 xi1 S xT i 1 8 7

i 0; 1; 2; . . . ; m 1;

where Si is (n (k + 1)) (n (k + 1)) matrix. Here P = Pm and we initialise P and S to P0 and S0 by setting them to  P 0 0:0 9 S0 X I In Eq. (9), I is an identity matrix. In order to set X as high as possible we use the formula X = 1000 MAX(X). 4.2. Premise parameter identication The premise of a fuzzy rule species the condition that must become true, by their degree of truth, before the rule is red. The ring of each component premise clause of a rule depends on the degree of truth associated with it as result of fuzzied crisp input values. In the identication of the premise parameter, we partition the premise space variables into fuzzy subspace. This process is guided by noting the relationship between variables as observed in the process data history. For example, there is a relationship between the moisture content and the applied pressure, such that, if the moisture content is high the applied pressure has to be increased so that it also becomes high. However, throughout the process, the temperature must be maintained at a medium level, that is around a 36 C while the acidity is monitored until the pH value is about 6.0. The fermentation period must also be increased if the pH value is high. Based on the above analysis we are able to select the input variables for the GFDP plant, namely: Temperature, pH, Moisture, Pressure, and Processing Duration. The output control variables are Pressure gain, Temperature gain and Rate of air Flow gain. To represent the fuzzy subset in the input space, linguist variables are associated with specic fuzzy subspace. To do this, fuzzy sets are dened over the Universe of Discourse (UoD) of each input variable. For example the UoD for pressure is [0.25, 3.75] where 0.25 kg m1 s2 is the minimum and 3.75 kg m1 s2 is the maximum value that pressure can attain in the processing environment. The range specied for each of four input variables described above are based on the analysis of data of previous manually and mechanically control GFDP. The linguist variables have to be associated with specic range of values. To do this, fuzzy sets are dened

over the Universe of Discourse (UoD) for each input variable (Li & Lau, 1989). For each input variable ve linguistic terms are selected and expressed by the approximate fuzzy sets, VeryLow (VL), Low (LW), Medium (ME), High (HI), and VeryHigh (VH). This is represented as F= {VL, LW, ME, HI, VH}. The degree to which an input value belongs to a given fuzzy set is computed by the respective membership function. After a careful analysis of the inputoutput characteristics in the data le, the triangular membership function is selected (Zavarei & Jamshidi, 1987). Each of the membership functions are dened as triplet (Lj, Mj, Rj) where Mj 2 R (i.e. real number), Lj > 0.0 and Rj > 0.0 denote the location of the peak of the triangle. For each input signal value, say x, lx = lF(x) is computed where F is the fuzzy subset (for example VeryLow) lx is the truth value with which x belong to F. The general form of the fuzzy membership function is as expressed in Eq. (10). Fig. 3 depicts the prototype fuzzy set for a typical variable. The membership function lF of the fuzzy set F is a mapping from the universe of discourse X into the fuzzy states in the closed interval [0, 1]. Formally, this is specied as lF: X ! [0, 1]. At the end of this process every clause of each of the plants premise in the fuzzy rule is associated with some membership grade. The fuzzy set for each of the four input variables, namely: Temperature, Moisture Content, Pressure and Acidity is as shown in Fig. 4(a)(d) respectively. 8 Mj x > > ; if M j Lj 6 x 6 M j ; 1:0 > > > Lj < x Mj 10 lF j x 1:0 if M j < x 6 M j Rj ; > > > Rj > > : 0:0 otherwise: For the premise parameters identication process the space of each input variable is taken in turn and partitioned into the designated ve fuzzy subsets while keeping the range of the other variables unpartitioned. Therefore when the temperature variable (Temp) is partitioned, the variables Prss, pH, and MoiCon are not
Linguistic label
1.0

Membership values

0.7 0.5 0.0

R X Universe of discourse

Fig. 3. Template for the fuzzy set used in the fuzzication process.

202

O.A. Odetunji, O.O. Kehinde / Journal of Food Engineering 68 (2005) 197207

VL
Membership values

LW

ME

HI

VH

1.0 0.7 0.5

0.0 10.5 28.5 37.5 43.8 90.5

(a)

Universe of discourse

VL
Membership values

LW

ME

HI

VH

1.0 0.7 0.5

0.0 5.50 28..5 55.5 65.00 75.5

(b)

Universe of discourse

VT
Membership values

LW

ME

HI

VH

1.0 0.7 0.5

0.0 0.25 1.30 1.50 2.00 3.7.5

(c)

Universe of discourse

VL
Membership values

LW

ME

HI

VH

1.0 0.7 0.5

0.0

2.25

3.30

3.50

4.00

5.7.5

(d)

Universe of discourse

Fig. 4. Fuzzy sets for the input variables: (a) fuzzy set for temperature, (b) fuzzy set for moisture content, (c) fuzzy set for pressure and (d) fuzzy set for acidity (pH value).

partitioned. When the pressure variable is partitioned, Temp, pH, and MoiCon are not partitioned, etc. In this way we have k-models, each of which is composed of ve implications. Each of the K-model, representing a partition, is then used to form the fuzzy rule of the model. For each model, the optimum premise parame-

ters and consequence parameters were computed by the stable-state Kalman lter (Salehfar et al., 2000) algorithm. Starting from a stable state we take combinations of the variables and repeat the partition process and we select the model with the least performance index. This process is stopped when the performance index is less

O.A. Odetunji, O.O. Kehinde / Journal of Food Engineering 68 (2005) 197207

203

than a predetermined values or when the number of implications of a stable state exceeds a predetermined number for each variable. After this, the variables are taken in combination of two, three, and four and the process stated above is repeated. The optimum model with the least performance index is selected out of the K models. The algorithm for implementing this process is as depicted in Fig. 5. At the end of the identication process for the consequence and premise parameters, a set of rules which describes the nonlinear control of the GFDP plant is produced. Since there are four input variables and ve set of premises for each fuzzy subset, we will have 54 = 625 rules for each input variable. Since we have four variables, the total rules will amount to 625 4 = 2500. However, using the rule of thumb, or heuristic, about the relationship between the variables it is possible to reduce the rules considerably (Yen & Langari, 1999; Zhang, Jia, & Zhang, 1997). For example, by intuition,

the relationship between moisture content input variable and pH value would not signicantly aect the control process. The same goes for temperature, moisture content, and pH values. It should be noted that, removing a fuzzy subset from the clause of a rule will reduce the rules by 25. After eliminating these irrelevant rules, we are able to reduce the number of rules to 350. For example, a section of the rule for generating pressure gain, (see Fig. 6) only three variables: namely Temperature (Temp), Moisture Contents (Moicon), and Pressure (Prss) appeared in the consequent of the rule.

5. Illustration We illustrate the developed model using an example. Assume that a 100 kg grated cassava, in perforated bag, is being dewatered and fermented. Let the current environment variable returned by the sensors be: Temp = 25.00, MoiCon = 59.00, Prss = 0.51, and pH = 10.00. These input values are to be transmitted as numerical data to the computer system via the serial port. In this study a le is created for the input data in the simulation experiment. The ultimate goal is to redirect the input le pointer to the serial port for online control. The rst step is to compute the IF part of each rule by applying the rule clause on inputted numerical values. This process will convert the crisp value into a linguistic value by matching them with associated membership functions in a process called fuzzication. Using the membership function of the fuzzy sets depicted in Fig. 5, each of the crisp values, that is the numerical data, is mapped to the linguistic value. The linguistic value is the truth value that signies the degree to which the numerals belong to a fuzzy subset. Note that pH value is not matched since the rule set has no pH as a term. For example the degree of truth for temperature (Temp) value of 25 C in the fuzzy set Low (LW) for the rst rule is 0.75 and that for moisture contents (MoiCon) of 59% in fuzzy set Medium (ME) is 0.45 (see Fig. 6). This value is same for all the rules since they have same fuzzy set (LW) and (ME) in their clauses. The last term in the clause is for pressure (Prss). A pressure value of 0.51 kg m1 s2 has a degree of truth of 0.38, 0.41, 0.16, 0.00, and 0.00 in fuzzy sets very Low (VL), Low (LW), Medium (ME), High (HI) and VeryHigh (VH) respectively (Table 2). The next step is to compute the truth value (Tv) of each rule clause by applying the minium (that is AND operator) on the membership value. As shown in Table 2, the Tv for rules 5 through are 0.38, 0.41, 0.16, 0.00, and 0.00 respectively. This process results in the computation of the truth value (Tv) for each clause in every rule in the knowledge base. These truth values are aggregated, by summing them, thus for this rule the truth value of all proposition y = yi is computed as 0.95.

Start

Take input variable x j

Divide the range of variable xj into five fuzzy subspaces Compute the optimum premise and consequence parameter using Kalman filter algorithm

Take combinations of xi - x j (j=1, 2, 3, 4 ) and divide the range of each premise into 5j

is i<j

Yes

No No
Performance index < PVal

Yes No
Number of implication > PInd

Yes End of premise parameter identification

Pval => performance value, Pind => performance index

Fig. 5. Flowchart of algorithm for premise parameter identication.

204

O.A. Odetunji, O.O. Kehinde / Journal of Food Engineering 68 (2005) 197207

LW ME VL

R1:

IF Temp is

0.75

AND MoiCon is
0.45

AND Prss is
0.38

25 (10.5, 28.50)

59

.51

(18.50, 60.00)

(0.25, 0.50)

THEN PressGain = 0.011 Temp - 0.87 Prss + 0.0091 MoiCon - 0.093

R2:

IF Temp is
0.75

LW

AND MoiCon is
0.45

ME

AND Prss is
0.41

VL

25 (10.5, 28.50)

59 (18.50, 60.00)

.51 (0.25, 1.40)

THEN PressGain = 0.050Temp - 0.72 Prss + 0.0050 MoiCon - 0.091

R3 :

IF Tem p is
0.75

LW

AND MoiCon is
0.45

ME

ME

AND Prss is
0.16

25 (10.5, 28.50)

59 (18.50, 60.00)

0.51 (0.50, 1.75)

THEN PressGain = 0.021 Temp - 0.54 Prss + 0.0020 MoiCon - 0.027 LW W

0.75

ME

R4 : IF Temp is

AND MoiCon is
0.45

AND Prss is
0.00 59 (18.50, 60.00)

HI

25 (10.5, 28.50)

0.51

(1.40, 2.50)

THEN PressGain = 0.021 Temp - 0.37 Prss + 0.003 MoiCon - 0.12

R5 :

IF Temp is
0.75

LW

AND MoiCon is
0.45

ME

VH

AND Prss is
0.00 59

25 (10.5, 28.50)

(18.50, 60.00)

0.51

(1.75, 3.75)

THEN PressGain = 0.043 Temp - 0.48 Prss + 0.0025 MoiCon - 0.71

Fig. 6. Five control rules for pressure gain. (Note that Prss(t + 1) = Prss(t) + PrssGain after result of all rules are aggregated).

The nal step is defuzzication. The defuzzication process is applied to the THEN part of the fuzzy rule. The membership grade computed previously in inference step is passed to the conclusion, and all the area under the point associated with the membership grade is marked. This process is repeated for every conclusion in every fuzzy rule. After the membership grade are computed, the inference on the IF part of the rule is executed. If we consider the rule computed alone then y = 1.1721/

0.95 = 1.234. Therefore, given a set of inputs the corresponding output is inferred by the following steps: (1) for each of rule Ri, output yi is computed by the function in the consequence that is y i pi0 pi1 x1 pik xk ; i 1; 2; . . . ; n;

(2) compute the truth value of the proposition y = yi by the equation

O.A. Odetunji, O.O. Kehinde / Journal of Food Engineering 68 (2005) 197207 Table 2 Illustration of the use of fuzzy rules in computing control output Rule # (i) 1 2 3 4 5 Premise liF (Data) (0.75, (0.75, (0.75, (0.75, (0.75, Sum 0.45, 0.45, 0.45, 0.45, 0.45, 0.38) 0.41) 0.16) 0.00) 0.00) Truth value (Tv) MIN(Premise) 0.38 0.41 0.16 0.00 0.00 0.95

205

Consequence PrssGain = f(Prss, MoiCon, Temp) * Tv 0.011 * 25 0.87 * 0.51 + 0.0091 * 59 0.093=0.2752 0.050 * 25 0.72 * 0.51 + 0.0050 * 59 0.910=0.2678 0.021 * 25 0.54 * 0.51 + 0.0020 * 59 0.270=0.0976 0.021 * 25 0.37 * 0.51 + 0.003 * 59 0.220=0.2933 0.043 * 25 0.48 * 0.51 + 0.002 * 59 0.710=0.2382 1.1721

Table 3 Mean Square Error (MSE) for the control signal in the three experiments Experiment Mean square error (in output data) pH #1 #2 #3 0.769 0.345 0.234 Pressure 0.856 0.234 0.214 Temperature 0.643 0.511 0.512 Moisture content 0.557 0.172 0.138

i jy y i j jxi0 is li1 AND . . . AND . . . x0 k is lk j

jli1 xi0

. . . lik x0 k j;

where j*j is degree of truth value of the proposition * and ^ is the AND or minimum operator.
Gari fermation and dewatering temperature control 80
Temperature in degree centigade

(3) the nal output from the implication form n rules is compute as the average of all yi with the weights jy = yij: that is P jy y i j y i : y P jy y i j
Gari fermation and dewatering pH value control 8

Experiment #1
pH value in mg/100ge

60

40 Experiment #2 20 Experiment #3

1000 2000 Duration in seconds

3000

1000 2000 Duration in seconds

3000

Presure in Kg m/ sec sqr.

Gari fermation and dewatering pressure control 3 Experiment #1 Experiment #2 2.5 2 1.5 1 0.5 Experiment #3 0 0 1000 2000 Duration in seconds 3000

Gari fermation and dewatering moisture content conrol 60 50

Mosture content in (%)

40 30 20 10 0 0 1000 2000 Duration in seconds 3000

Fig. 7. Results of simulation experiments.

206

O.A. Odetunji, O.O. Kehinde / Journal of Food Engineering 68 (2005) 197207

Thus for every premise of the rule, a global membership grade is computed based on the logical connectors that separates the clauses of the premise. The defuzzied value of a membership function is the single value that best represent the linguistic control output, in this case pressure gain. In essence, each rule contributes a conclusion weighed by the degree to which the antecedents of the rule are fullled.

6. Simulation experiments and discussion In order to evaluate the system we conducted simulation experiments using data for a typical fermentation and dewatering process. The data used in Experiments 1 and 3 are not part of those used to develop the model. Data for Experiment 2 is selected from among those used to develop the system. The aim is to determine whether the control output matches favourably with typical control as represented by inputoutput data. By this we mean that, the system should be able to make the environment variable converge to the optimum performance values range as indicated in Table 1. The algorithm for the control system is implemented in MATLAB 6.0 using the fuzzy logic toolkit. In Fig. 7(a) the state of the temperature variable in the rst 3000 second of processing is plotted. It is shown that the system temperature, starting from 0.0 C reaches the peak of 65 C in the rst 500 s and falls gradually to approximately stable values of about 40.15 C at the end 2000 s. When this result is compared with raw data used for modelling, we obtain a Mean Square Error (MSE) of 0.643, 0.511, and 0.512 respectively for the rst second and third experiments (see Table 3). For the Pressure variable we obtained MSE of 0.856, 0.234, and 0.214 respectively and the dynamics of this output is shown in Fig. 7c. The results for pH (see Fig. 7b) and Moisture contents (see Fig. 7d) also follow similar pattern. When compared with other variables, it seems that the pressure is more inaccurately predicted and controlled. However, the result suggests a high correlation between the in-sample and out-of-sample data and conrms the stability of the system which is comparable to results of other similar studies (Mahfouf, Abbod, & Linken, 2002; Ranganathan et al., 2002; Rywotycki, 2003).

process control application could be used to justify the development and application of this approach. These advantages include reduction in processing time and processing costs since energy used in the process can be more eciently controlled. Ongoing research eort is directed at further improving the quality of the rule as well as determining the rule ordering strategy in order to produce optimum control. We also aim to interface this control system to a prototype gari fermentation and dewatering processing plant, via a microcontroller (Yen & Langari, 1999), for further study and eventual real-life implementation.

Acknowledgments Substantial part of this work was done at the Department of Information Technology and Electrical Engineering (ITEE), University of Queensland, Australia, under a United Nations University/Institute of Software Technology Fellowship (UNU/IIST PCI-01-061) awarded to the rst author. We appreciate the nancial support from Obafemi Awolowo University, Ile-ife, Nigeria. The computing facility used to carry out the simulation experiments was provided by Computer Science Department, Aston University, Birmingham, United Kingdom.

References
Adeboye, R. O. (1989). Cassava processing in Nigeria. Appropriate Technology, 16(3), 21. Ajibola, O. O., Makanjuola, G. A., & Almazani, A. M. (1987). Eects of processing factors on the quality of gari produced by steam gelatinisation technique. Journal of Agricultural Engineering Research, 38, 313320. Alvarez, E., Cancela, M. A., Correa, J. M., Navaza, J. M., & Riverol, C. (1999). Fuzzy logic control for the isomerized hop pellets production. Journal of Food Engineering, 39, 145150. Carrasco, E. F., Rodriguez, J., Pundal, A., Roca, E., & Lema, J. M. (2002). Rule-based diagnosis and supervision of a pilot-scale wastewater treatment plant using fuzzy logic techniques. Expert Systems with Applications, 22, 1120. Ikhu-Omoregbe, D. I. O., & Uyaebo, P. E. (1998). Loss of cyanide during processing of grated cassava to gari. Botswana Journal of Technology, 5(1), 14. Johansen, T. A., & Babuska, R. (2003). Multi-objective identication of TakagiSugeno fuzzy models. IEEE Transacations on Fuzzy Systems, 11(6), 847860. Khanmohammadi, S., Hassanzadeh, I., & Sharian, M. B. B. (2000). Modied adaptive discrete control system containing neural estimator and neural controller. Articial Intelligence in Engineering, 14(1), 3138. Lau, H. C. W., Wong, T. T., & Ning, A. (2001). Incorporating machine intelligence in a parameter-based control system: a neuralfuzzy approach. Articial Intelligence in Engineering, 15, 253264. Lee, C. C. (1990). Fuzzy logic in control systems: Fuzzy logic controllerPart I and II. IEEE Transactions on Systems Man and Cybernetics, 20, 2330.

7. Conclusion and on-going works We have presented the development of a fuzzy-logic based controller for a gari fermentation and dewatering process. Preliminary result shows that this approach can produce a better method for the control of the physical environment during gari fermentation and dewatering. Besides this, other advantages relating to intelligent

O.A. Odetunji, O.O. Kehinde / Journal of Food Engineering 68 (2005) 197207 Li, Y. F., & Lau, C. C. (1989). Development of fuzzy algorithm for servo system. IEEE Control System Magazine, 6571. Linkens, D. A., & Cheng, M. Y. (1999). Input selection and partition validation for fuzzy modelling using neural network. Fuzzy Set and Systems, 107, 299308. Mahfouf, M., Abbod, M. F., & Linken, D. A. (2002). The design of supervisory rule-based control in the operating theatre via an anaesthesia simulator. Expert Systems, 19(1), 1120. Massaquoi, J. G. M., Sormana, J. D., & Koroma, A. M. (1990). Technological capability in the informal food processing sector: the case of rice and cassava processing. WATPS Programme Report, International Development Research Centre, Ottawa, ON, Canada. Odejobi, O. A. (1996). Gari processing: an intelligent process control approach. In E. R., Adegunodo, A. D., Akinde, L. O., Kehinde, & T., Onabanjo (Eds.), Proceedings of COAN Conference (vol. 7, pp. 252281). Onabolu, A. O., Bokanga, M., & Rosling, H. (1999). Processing factors aecting the level of residual cyanohydrins in gari. Tropical Science, 39, 129135. Owolarafe, O. K., Adesope, J. A., Sanni, L. A., Taiwo, K. A., & Ajibola, O. O. (2000). A comparative evaluation of harmer mill and grater for gari production. Journal of Agricultural Extension of Nigeria, 4, 5662. Ranganathan, R. S., Malki, H. A., & Chen, G. (2002). Fuzzy predicate PI controller for process with large time delay. Expert Systems, 19(1), 2133. Rywotycki, R. (2003). Food frying process control system. Journal of Food Engineering, 59, 339342.

207

Salehfar, H., Bengiamin, N., & Huang, J. (2000). A systematic approach to linguistic fuzzy modelling based on inputoutput data. In J. A., Joines, R. R., Barton, K., Kang, & P. A. Fishwick (Eds.), Proceedings of the 2000 winter simulation conference (pp. 480486). Steghart, P. B., & Wholey, D. W. (1984). A factory concept for integrated cassava processing: The raw material cassava chips. United Nations Industrial Development Organization, Vienna, Austria, UNIDO 10.582. Takagi, T., & Sugeno, M. (1985). Fuzzy identication systems and its applications to modelling and control. IEEE Transactions on Systems Man and Cybernetics, 15, 116132. Valdez-Castro, L., Baruch, I., & Barrera-Cortes, J. (2003). Neural networks applied to the prediction of fed-batch fermentation Kinetics of Bacillus thuringiensis. Bioprocess and Biosystems Engineering, 25, 229233, doi:10.1007/soo449-002-0296-7. Wang, H., & Qiu, D. (2003). Computing with words via Turing machines: A formal approach. IEEE Transactions on Fuzzy Systems, 11(6), 742753. Yen, J., & Langari, R. (1999). Fuzzy logicintelligence, control and information. Englewood Clis, NJ: Prentice Hall. Zadeh, L. A. (1996). The role of fuzzy logic and softcomputing in the conception, design and development of intelligent systems. BT Technology Journal, 14(4), 3236. Zavarei, M. M., & Jamshidi, M. (1987). Time-delay systems-analysis, optimization and application. Systems and Control Series (vol. 9). Amsterdam: North-Holland. Zhang, J. H., Jia, L. M., & Zhang, X. D. (1997). On a novel predictive control. In Proceedings of the American control conference, Albuqerque (pp. 12511255).