Smart performance evaluation of Distribution Network Operators (DNOs) is an essential part of their effective governance task. This paper focuses on benchmarking twenty one districts of the Greater Tehran Electricity ...
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Smart performance evaluation of Distribution Network Operators (DNOs) is an essential part of their effective governance task. This paper focuses on benchmarking twenty one districts of the Greater Tehran Electricity Distribution Company (GTEDC) using Data Envelopment Analysis (DEA). Three methods are employed, namely: CCR (Charnes, Cooper, and Rhodes), SBM (Slack Based Measurement), and WSBM (Weighted Slack Based Measurement). The results consist of efficiency scores of CCR, SBM, and WSBM with slacks analysis for the latter. Based on the WSBM results, weak districts are clarified and necessary improvements are suggested.
A novel recursive singularity free FTSM (Fast Terminal Sliding Mode) strategy for finite time tracking control of nonholonomic systems is proposed. As a result, the singularity problem around the origin resulting from...
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A novel recursive singularity free FTSM (Fast Terminal Sliding Mode) strategy for finite time tracking control of nonholonomic systems is proposed. As a result, the singularity problem around the origin resulting from the fractional power of conventional terminal sliding mode is resolved. Simulation results are given for two benchmark examples of extended chained-form nonholonomic systems: a wheeled mobile robot and an underactuated surface vessel. The results show the effectiveness of the proposed strategy.
作者：
Kave AryanpooHadi MoradiRobotics and AI Laboratory
School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran Robotics and AI Laboratory
Control & Intelligent Processing Center of Excellence School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran
Wireless signal fingerprints have been used to localize mobile devices in recent years. Especially, WLAN signals are of great importance, because of the ubiquity of WLAN infrastructure. In this paper, the possibility ...
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Wireless signal fingerprints have been used to localize mobile devices in recent years. Especially, WLAN signals are of great importance, because of the ubiquity of WLAN infrastructure. In this paper, the possibility of correlation between temperature and signal strength is investigated to improve the traditional fingerprinting method by incorporating the temperature into the process. The new approach is called the Temperature-Aided Fingerprinting (TAF) and even with current WLAN-enabled devices, which usually do not have a thermometer, TAF achieves a better performance than the traditional method. At the end, we open up a hypothesis that the observed difference is not caused by the temperature, rather by the crowdedness and the dynamics of the environment. This is left to be investigated in the future.
Representing an image as a set of its key and interesting lines facilitates the image understanding and classification. In this paper, we propose a method to extract the significant and interesting lines of the scene,...
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Representing an image as a set of its key and interesting lines facilitates the image understanding and classification. In this paper, we propose a method to extract the significant and interesting lines of the scene, which probably are useful in image classification. The proposed method is inspired from the Visual Attention, which is a perceptual mechanism in human and other primates that direct their perceptions to the limited regions of the scene. The attended regions are usually valuable in performing the task. Since the approach of using the lines to classify the images is particularly useful for omnidirectional images, we specialize our method to deal with these kinds of images. In the experiments, we demonstrate how our proposed methods improve the image classification performance with processing only small parts of the input images.
We earlier introduced a novel framework for realization of Adaptive Autonomy (AA) in human-automation interaction (HAI). This study presents an expert system for realization of AA, using Support Vector Machine (SVM), ...
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We earlier introduced a novel framework for realization of Adaptive Autonomy (AA) in human-automation interaction (HAI). This study presents an expert system for realization of AA, using Support Vector Machine (SVM), referred to as Adaptive Autonomy Support Vector Machine Expert System (AASVMES). The proposed system prescribes proper Levels of Automation (LOAs) for various environmental conditions, here modeled as Performance Shaping Factors (PSFs), based on the extracted rules from the experts' judgments. SVM is used as an expert system inference engine. The practical list of PSFs and the judgments of GTEDC's (the Greater Tehran Electric Distribution Company) experts are used as expert system database. The results of implemented AASVMES in response to GTEDC's network are evaluated against the GTEDC experts' judgment. Evaluations show that AASVMES has the ability to predict the proper LOA for GTEDC's Utility Management Automation (UMA) system, which changes in relevance to the changes in PSFs; thus providing an adaptive LOA scheme for UMA.
The event-triggered H_(infinity) control design is investigated for networked controlsystems with uncertainties and transmission delays. A novel event-triggering scheme is proposed, which has some advantages over tra...
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ISBN:
(纸本)9781612848006
The event-triggered H_(infinity) control design is investigated for networked controlsystems with uncertainties and transmission delays. A novel event-triggering scheme is proposed, which has some advantages over traditional ones with a continuous detector. Considering the effect of the transmission delay, a delay system model for the analysis is firstly constructed. Then, based on the model and Lyapunov functional method, criteria for the stability with an H_(infinity) norm bound and criteria for the co-design of both the feedback gain and the trigger parameters are derived. In order to solve the feedback gain and the trigger parameters, the linear matrix inequality technique is employed. From the simulation example, it can be concluded that the proposed event-triggering scheme is superior to some other event-triggering schemes in some existing literature.
This paper proposes a new control algorithm for automatic seabed tracking performed by a low cost autonomous underwater vehicle subject to the fact that the seabed profile is not known in advance. The control design a...
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ISBN:
(纸本)9781612848006
This paper proposes a new control algorithm for automatic seabed tracking performed by a low cost autonomous underwater vehicle subject to the fact that the seabed profile is not known in advance. The control design amounts to cast the problem in the framework of nonlinear output regulation theory combined with pseudo-spectral methods to approximate the solutions of the regulator equations. To this end, the seabed tracking problem is re-formulated as a trajectory tracking problem and the reference signal is constructed using Fourier series to approximate the seabed profiles. An interesting feature of this approach is that the combination of the Fourier series with output regulation problem allows to bypass the need to compute explicitly the Fourier coefficients. Stability analysis and simulation results with real seabed data show the effectiveness of the proposed controller.
This study proposed to de-noise the IMU signal by effectively band-limiting the signal at the output of each inertial measurement sensor prior to its mechanization and further processing by the Strapdown INS (SDINS) a...
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Designing an appropriate cooperation protocol in multi-robot systems such as multi-robot object manipulation systems is a challenging task. In this paper designing and implementing a cooperation protocol between two r...
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Designing an appropriate cooperation protocol in multi-robot systems such as multi-robot object manipulation systems is a challenging task. In this paper designing and implementing a cooperation protocol between two robots pushing an object toward an arbitrary goal configuration is investigated. The proposed method benefits from task decoupling which simplifies the cooperation protocol design. Each robot gets its proper action from a particular fuzzy inference system independently. The fuzzy controllers outputs are low-level robot commands by which the need to a robot path planning algorithm is eliminated. Simulation results show that robots could push the object to the goal configuration cooperatively. Experiments have been conducted to approve the proposed system.
In this paper the problem of dynamic manipulation of active objects by throwing is studied. Here active object means a multi-body object that can actively move its body parts. The prime reason for selecting this probl...
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In this paper the problem of dynamic manipulation of active objects by throwing is studied. Here active object means a multi-body object that can actively move its body parts. The prime reason for selecting this problem is existence of conceptual analogy between it and dynamic walking. The second reason is theoretical attraction in addition to its possible practical applications for manipulation of active objects in space or in micro scales. First the task is decomposed into three distinct phases and it is mathematically modeled. Main constraints such as requirement to hold dynamic grasp are also derived and mapped into the manipulator's configuration space. Then the task is formulated as an optimization problem and a proper cost function in the manipulator's configuration space is presented. Finally this optimization problem is solved for obtaining appropriate trajectories of manipulator's joints in addition to that of the active object. Simulation results in ADAMS verify the developed formulations.
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