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International Conference on Electrical, control and Computer engineering (INECCE)

作者： B.S. K. K. Ibrahim M.O. Tokhi M.S. Huq S.C. Gharooni Department of Mechatronics and Robotics Faculty of Electrical & Electronic Engineering University of Tun Hussein Onn Batu Pahat Johor Malaysia Department of Automatic Control and System Engineering University of Sheffield Sheffield UK

FES induced movement control is a significantly challenging area due to complexity and non-linearity of musculo-skeletal system. The goal of this study is to design a cycle-to-cycle control of FES-induced swinging motion. In this approach only the quadriceps muscle is stimulated by controlling the amount of stimulation pulsewidth. This time dependent behaviour is successfully compensated for using a cycle-to cycle fuzzy controller, which computes the amount of knee extension stimulation on the basis of the achieved flexion angle in previous cycles. The capability of fuzzy control in automatic generation of stimulation burst duration is assessed in computer simulations using a musculo-skeletal model. This paper presents the development of a fuzzy logic control scheme based on discrete-time cycle to cycle control strategies without predefined trajectory. The results show the effectiveness of the approach in controlling FES-induced swinging motion.

关键词： Knee Joints Mathematical model Trajectory Computational modeling Muscles Fuzzy logic

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Natural trajectory based FES-induced swinging motion control

Natural trajectory based FES-induced swinging motion control

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International Conference on Mechatronics (ICOM)

作者： B. S. K. K. Ibrahim M. O. Tokhi M. S. Huq S. C. Gharooni Department of Mechatronics and Robotics Faculty of Electrical & Electronic Engineering University of Tun Hussein Onn Batu Pahat Johor Malaysia Department of Automatic Control and System Engineering University of Sheffield Sheffield UK

The use of electrical signals to restore the function of paralyzed muscles is called functional electrical stimulation (FES). FES is a promising method to restore mobility to individuals paralyzed due to spinal cord injury. FES induced movement control is a significantly challenging area, mainly emanating from various characteristics of the underlying physiological/biomechanical system. An approach of fuzzy trajectory tracking control of swinging motion optimized with genetic algorithm is presented. The results show the effectiveness of the approach in controlling FES-induced swinging motion. In this approach only the quadriceps muscle is stimulated to perform the swinging motion by controlling the amount of stimulation pulsewidth.

关键词： Knee Joints Mathematical model Trajectory Genetic algorithms Muscles Optimization

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An Integrated system Approach for Solving Multi-Objective Scheduling Problems and Advanced control of an Experimental Hot-Rolling Mill

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IFAC Proceedings Volumes 2011年第1期44卷 12084-12089页

作者： Sid-Ahmed Gaffour Mahdi Mahfouf George Panoutsos Jun Chen Department of Automatic Control and System Engineering Sheffield University S1 3JD UK UK (Tel: 114-222-5613) School of Engineering Lincoln University LN6 7TS UK UK (Tel: 1522 668901)

Abstract Common to most industries, the metal industry is having to ‘rethink’ its short and long term strategies when it comes to producing metals to customers’ specifications. Indeed, metal producers are having to balance the requirements for more consistent and higher quality rolled products with those that are associated with greater efficiencies in energy costs and impact on environment. In the light of these considerations, the performance of key industrial systems such as hot-rolling mills must be carefully analysed in search of further improvements. Criteria for optimising hot-rolling of steel include system efficacy, advanced control strategies, optimal rolling schedule and product quality. This paper is the result of the authors’ extensive study on the use of advanced technologies and new integrated approaches in the field of optimal scheduling for the hot-rolling process. The proposed design is based on 1. a multi-objective optimisation-based Population Adaptive Immune Algorithm (PAIA); 2. physically-based models and Symbiotic data-driven modelling for the accurate prediction of mechanical properties of alloy steels; 3. advanced control, including Adaptive Fuzzy Generalised Predictive control (AFGPC) to guarantee the optimal performance of the mill during the rolling process. Hence, the overarching aim of this research work is to integrate knowledge about both the stock and the rolling process to identify the optimal hot-deformation profiles in order to compute the most suitable rolling schedule and systematically ‘chart’ the optimal routes for processing and hence achieve ‘right-first-time’ production of these alloy steel via the desired final microstructure and mechanical properties.

关键词： Hot-rolling mills Adaptive Fuzzy Generalised Predictive control Multi-Objective Optimisation Symbiotic Modelling Approach Population Adaptive Immune Algorithm

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Securing JPEG architecture based on enhanced chaotic hill cipher algorithm

Securing JPEG architecture based on enhanced chaotic hill ci...

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International Conference on Computer engineering and systems

作者： Ghada Hamissa Amany Sarhan Hatem Abdelkader Mahmoud Fahmy Electrical Engineering Dept. Faculty of Engineering KFS University Kafr-Elsheikh Egypt Information System Department Faculty ofComputer & Information Menoufia University Menoufia Egypt Computer & Automatic Control Department Faculty of Engineering Tanta University Tanta Egypt

In the last two decades, Chaos theory has received a great deal of attention from the cryptographic community. This paper presents two ideas. First idea is using chaotic functions to overcome the weaknesses of the classical Hill cipher. The second idea is proposing a new encoder-decoder architecture, called ChaoEncoDeco, for securing JPEG images. An extra stage of encryption is embedded within the traditional JPEG codec to improve security level of such system. This security stage uses one of the chaotic functions called Logistic Map. This map is used to enhance the Hill cipher and achieve more secure encryption key. The properties of both chaotic system and of the Hill cipher encryption key are all utilized to obtain ultimate secure systems. The proposed encryption algorithm is crypto-analyzed and compared to the standard Hill cipher algorithm. Complete evaluation for the proposed architecture is also performed which indicates the effectiveness of the proposed system.

关键词： Cryptography Image coding Chaos PSNR Transform coding Time measurement Size measurement

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Feasibility study for implementing model based predictive control in a Programmable Electronic Device

Feasibility study for implementing model based predictive co...

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International Conference on control and Automation (ICCA)

作者： Miguel R. Celi Cesar De Prada Thamara Villegas Daniel Sarabia Asdrubal Aguilera Industrial Technology Department Simón Bolívar University Caracas Venezuela System Engineering and Automatic Control Department University of Valladolid Valladolid Spain Electrical and Electronic Circuit Department Simón Bolívar University Caracas Venezuela

In this paper, the authors studied the implementation issues of an explicit model predictive controller on a programmable electronic device. For the implementation of this controller is considered the programmable controller architecture, hardware and software level, so the performance is optimized ensuring the feasibility of functioning. The main outcome is a series of recommendations to help implement the explicit MPC, which are applied to design the MPC of a DC-DC converter.

关键词： Microcontrollers Process control Performance evaluation Field programmable gate arrays Mathematical model Clocks Predictive models

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A multi-class pattern recognition method for motor imagery EEG data

A multi-class pattern recognition method for motor imagery E...

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IEEE International Conference on systems, Man and Cybernetics

作者： Yonghui Fang Minyou Chen Robert F Harrison State Key Laboratory of Power Transmission Equipment & System Security and New Technology Chongqing University Chongqing China School of Electronic and Information Engineering Southwest University Chongqing China Department of Automatic Control & Systems Engineering University of Sheffield Sheffield UK

The Common Spatial Patterns (CSP) algorithm is useful for calculating spatial filters for detecting event-related desynchronization (ERD) for use in ERD-based brain-computer interfaces (BCIs). However, basic CSP is a supervised algorithm suited only to two-class discrimination; it is unable to solve multiclass discrimination problems. This paper proposes a new method named the binary common spatial patterns (BCSP) algorithm to extend the basic CSP method to multi-class recognition. Our method arranges the spatial filters and Fisher classifiers in the form of a binary tree whereby N - 1 spatial filters and N - 1 Fisher classifiers are calculated for N class recognition. This is fewer than must be calculated in other methods (e.g. one-versus-rest, OVR). This makes the overall classification procedure less redundant. Simulation results show that BCSP has better performance than the OVR scheme and outperforms the three best teams in the 2008 BCI-competition.

关键词： Spatial filters Arrays Feature extraction Electroencephalography Band pass filters Covariance matrix Filtering algorithms

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Hierarchical control scheme for voltage Harmonics Compensation in an islanded droop-controlled microgrid

Hierarchical control scheme for voltage Harmonics Compensati...

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International Conference on Power Electronics and Drive systems (PEDS)

作者： Mehdi Savaghebi Josep M. Guerrero Alireza Jalilian Juan C. Vasquez Tzung-Lin Lee Center of Excellence for Power System Automation and Operation Iran University of Science and Technology Iran Department of Automatic Control and Industrial Informatics Technical University of Catalonia Spain Institute of Energy Technology University of Aalborg Denmark Department of Electrical Engineering National Sun Yat-sen University Taiwan

In this paper, a microgrid hierarchical control scheme is proposed which includes primary and secondary control levels. The primary level comprises distributed generators (DGs) local controllers. The local controller mainly consists of active and reactive power controllers, voltage and current controllers, and virtual impedance loop. A novel virtual impedance structure is proposed to achieve proper sharing of non-fundamental power among the microgrid DGs. The secondary level is designed to manage compensation of voltage harmonics at the microgrid load bus (LB) to which the sensitive loads may be connected. Also, restoration of LB voltage amplitude and microgrid frequency to the rated values is directed by the secondary level. These functions are achieved by sending proper control signals to the local controllers. The simulation results show the effectiveness of the proposed control scheme.

关键词： Harmonic analysis Voltage control Power harmonic filters Impedance Frequency control Resistance

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Dynamic modelling of a single link flexible manipulator in vertical motion using swarm and genetic optimisation

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12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009

作者： Md Zain, B.A. Tokhi, M.O. Tora, S.F. Department of Automatic Control and System Engineering University of Sheffield United Kingdom

ISBN: (纸本)9814291269

In this research, particle swann optimisation (PSO) and genetic algorithm (GA) are used to model a single-link flexible manipulator. Investigations focus on characterizing the system from input torque to hub-angle, hub-velocity and end-point acceleration. A simulation environment characterizing the system behaviour in vertical motion is used as a platfonn to test and verifY the PSO and GA based transfer function models. The environment is based on finite difference discretisation of the goveming dynamic equation of motion of the system. The system is treated as a single-input multioutput system, and the input/output data collected is used with PSO and GA to develop models of the system based on autoregressive moving average model structure and one-step-ahead prediction. Comparative assessment of the results is presented and discussed in the time and frequency domains.

关键词： Genetic algorithms

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Modelling and simulation of a single link flexible manipulator in vertical motion

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12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009

作者： Amd Zain, B. Tokhi, M.O. Department of Automatic Control and System Engineering University of Sheffield United Kingdom

ISBN: (纸本)9814291269

This paper presents mathematical modelling of a single-link flexible manipulator in vertical plane motion. This extends the previously developed mathematical model for motion in the horizontal plane, where the effects of gravity, rotary inertia and shear deformation were ignored. The dynamic model of the system is obtained using the Lagrange equation. The finite difference method is used to transform this into a discrete formulation. The dynamic behaviour of the system in vertical motion is studied using the developed algorithm. Simulation results of the response of the manipulator are assessed in comparison to corresponding theoretical ones in the time and the frequency domains to verify the accuracy of the algorithm in characterizing the behaviour of the flexible manipulator system.

关键词： Flexible manipulators

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Tutorial: control issues in haptic teleoperation

Tutorial: Control issues in haptic teleoperation

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World Haptics Conference

作者： Angelika Peer Cristian Secchi Katsunari Sato Cenk Cavusoglu Institute of Automatic Control Engineering (LSR) Technische Universität München Munchen Germany DISMI University of Modena and Reggio Emilia and INFM Reggio Emilia Italy Graduate School of System Design and Management Keio University Yokohama Kanagawa Japan Department of Electrical Engineering and Computer Sciences Case Western Reserve University Cleveland OH USA

Telerobotics is one of the most traditional fields of robotics and it played a crucial role in the history of robotics and of the mankind, especially in the areas of space and undersea exploration and of remote material handling. On the other hand, teleoperation is still a very active research area and many problems are still open. In particular, the design of the control strategy for coupling local and remote site is of paramount importance for implementing telepresence, namely the feeling of being directly interacting with the remote environment. The IEEE RAS Technical Committee on Telerobotics would like to propose a half-day tutorial for illustrating several successful control strategies for implementing high performance bilateral teleoperation systems.

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