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Sliding mode traction control of an electric vehicle with four separate wheel drives

Sliding mode traction control of an electric vehicle with fo...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： M. Jalili-Kharaajoo F. Besharati Control & Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran

This paper, presents a traction control algorithm for an electric vehicle (EV) with four separate wheel drives. This algorithm is necessary to improve the handling and stability of EV during cornering or under slippery road condition. It distributes the traction power among four drives and especially an independent torque reference on each wheel. The proposed algorithm is implemented in terms of a hierarchical architecture, which incorporates all new known vehicle systems ABS (anti-lock brake system), ASR (anti slip regulation), ESP (electronic stability program). To achieve good performances, a robust sliding mode control strategy is implemented. Several simulation results, which show the potential of such an algorithm, are presented.

关键词： Sliding mode control Electric vehicles Wheels Stability Roads Drives Torque Automatic speech recognition Electrostatic precipitators Robust control

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Intelligent predictive control of a solar power plant with neuro-fuzzy identifier and evolutionary programming optimizer

Intelligent predictive control of a solar power plant with n...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： M. Jalili-Kharaajoo F. Besharati Control & Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran

The paper presents an intelligent predictive control to govern the dynamics of a solar power plant system. This system is a highly nonlinear process; therefore, a nonlinear predictive method, e.g., neuro-fuzzy predictive control, can be a better match to govern the system dynamics. In our proposed method, a neuro-fuzzy model identifies the future behavior of the systems over a certain prediction horizon while an optimizer algorithm based on EP determines the input sequence. The first value of this sequence is applied to the plant. Using the proposed intelligent predictive controller, the performance of outlet temperature tracking problem in a solar power plant is investigated. Simulation results demonstrate the effectiveness and superiority of the proposed approach.

关键词： Intelligent control Predictive control Solar energy Genetic programming Predictive models Temperature control nonlinearities Petroleum Nonlinear dynamical systems Power system modeling

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Neuro predictive control of a heat exchanger: comparison with generalized predictive control

Neuro predictive control of a heat exchanger: comparison wit...

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： M. Jalili-Kharaajoo B.N. Araabi Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran

In this paper, a neural network-based predictive controller is designed to govern the dynamics of heat exchanger process. Heat exchanger is a highly nonlinear process; therefore, a nonlinear prediction method can be a better match in a predictive control strategy. Advantages of neural networks for the process modeling are studied and a neural network based predictor is designed, trained and tested as a part of the predictive controller. The neuro predictive controller is utilized in setpoint tracking of a heat exchanger plant. The performance of the proposed controller is compared with that of Generalized Predictive control (GPC) through simulation studies. Obtained results demonstrate the effectiveness and superiority of the proposed approach.

关键词： Predictive control Neural networks Temperature control Predictive models Water heating Water resources Fluid flow control Proportional control Reservoirs Valves

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Impulse noise removal based on long-range correlation in an image

Impulse noise removal based on long-range correlation in an ...

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： M.T. Harandi B.N. Araabi Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Tehran Iran

Images are often contaminated by impulse noise. The major drawback of median filtering and its variants - that are widely used for removing impulsive noise - is the blurring effect for large window sizes and low noise suppression for small window sizes. In this paper, an algorithm for removing impulse noise in images is proposed. The long-range correlation information in a competitive scheme is utilized to find the gray level of degraded pixels. The experimental results show that the performance of our method in removing impulse noise is better than that of most other state-of-the-art methods.

关键词： Pixel Filtering Detection algorithms Process control Intelligent control Degradation Noise generators Communication channels Adaptive filters Linear approximation

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Notice of Violation of IEEE Publication Principles: Internal model control based on locally linear model tree (LOLIMOT) model with application to a PH neutralization process

Notice of Violation of IEEE Publication Principles: Internal...

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IEEE International Conference on Systems, Man and Cybernetics

作者： M. Jalili-Kharaajoo A. Rahmati F. Rashidi Control & Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran Electrical Engineering Department Iran University of Science and Technology Tehran Iran

Notice of Violation of IEEE Publication Principles "Internal model control based on locally linear model tree (LOLIMOT) model with application to a PH neutral process" by M. Jalili-Kharaajoo, A. Rahmati and F. Rashidi, in proceedings of the 2003 IEEE Internationa Conference on Systems, Man, and Cybernetics, vol 4, pp. 3051-3-55. After careful and considered review of the content and authorship of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE's Publication Principles. This paper contains portions of original text from the paper cited below. The original text was copied without attribution (including appropriate references to the original author(s) and/or paper title) and without permission. "Nonlinear Internal Model control for MISO Systems Based on Local Linear Neuro-Fuzzy Models" by A. Fink, O. Nelles and R. Isermann, in 15th IFAC World Congress, Barcelona, Spain, 2002. The internal model control (IMC) scheme has been widely applied in the field of process control. So far, IMC has been mainly applied to linear processes. This paper discusses the extension of the IMC scheme to nonlinear processes based on local linear models where the properties of linear design procedures can be exploited. The IMC scheme results in controllers that are comparable to conventional multi layer perceptron (MLP) networks. In practice, the tuning of conventional MLP based controllers can be very time-consuming whereas the IMC design procedure is very simple and reliable. The design effort of the IMC based on locally linear model tree (LOLIMOT) algorithm are discussed and the control results are compared by application to nonlinear control of an industrial-scale PH neutralization process. Simulation studies of a PH neutralization process confirm the excellent nonlinear modeling properties of the proposed locally linear network and illustrate the potential for set point tracking and disturbance rejection within an IMC framework.

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Automatic landmark detection on chromosomes' images for feature extraction purposes

Automatic landmark detection on chromosomes' images for feat...

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International Symposium on Image and Signal Processing and Analysis

作者： M. Moradi S.K. Setarehdan S.R. Ghaffari Electrical and Computer Engineering Department Faculty of Engineering University of Tehran Tehran Iran Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering Faculty of Engineering University Of Tehran Tehran Iran Cancer Institute School of Medicine University of Tehran Iran

Valuable medical information can be achieved by analysing shape and appearance of human chromosomes. Karyotype, an image of collection of all 23 pairs of human chromosomes, is usually used for this purpose. Making a Karyotype is hard and time consuming, encouraging experts in the image processing and machine vision field to work towards an automatic Karyotyping method. The first step in automation of this process is to define the geometric (morphologic) and intensity based features of the chromosome originating mostly from its banding pattern. As part of a complete project, which is defined to develop a new knowledge based classification technique for chromosomes, a number of new features in addition to the commonly used geometric and intensity based features, are introduced in this paper. Some of the features are computed using the so-called medial axis transform (MAT). For an accurate determination of most of these features it is necessary, however, to identify some key points or landmarks in the image (mostly over the MAT). This paper describes novel algorithms developed to locate such landmarks as centromere, end points of chromosome and two points defined as branching points on the chromosome axis. The algorithms have been tested on the real images supplied by the cytogenetic laboratory of Cancer Institute, University of Tehran. The automatically defined positions of the landmarks have been compared to those manually identified by an expert. In most of the cases the results were in complete agreement.

关键词： Biological cells Feature extraction Humans Biomedical imaging Information analysis Shape Image processing Machine vision Automation Testing

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Adaptive partial-state feedback control for induction motors

Adaptive partial-state feedback control for induction motors

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American control Conference (ACC)

作者： P. Krishnamurthy F. Khorrami Control Robotics Research Labomtory Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

In this paper, a nonlinear adaptive dynamic controller is designed for velocity and flux magnitude tracking of induction motors. The control design is a partial-state feedback design that utilizes rotor velocity and stator current measurements. Rotor position and flux measurements are not utilized for feedback. Further more, an adaptive approach is followed to compensate for uncertainty in the mechanical parameters (inertia, friction, and load torque) and the rotor resistance. The only information required about these parameters is a lower bound on the rotor resistance. The designed controller has dynamic order 12 and achieves asymptotic tracking of the flux magnitude trajectory. Under a persistency of excitation condition, asymptotic tracking of the flux magnitude trajectory is also obtained.

关键词： Programmable control Adaptive control Feedback control Induction motors Rotors Trajectory Velocity control control design Stators Current measurement

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Multi-agent simulation using discrete event and soft-computing methodologies

Multi-agent simulation using discrete event and soft-computi...

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IEEE International Conference on Systems, Man and Cybernetics

作者： P. Sridhar S. Sheikh-Bahaei Shan Xia M. Jamshidi Center for Autonomous Control Engineering (ACE) and Department of Computer Science University of New Mexico Albuquerque NM USA Center for Autonomous Control Engineenng (ACE) and Department of Electncal & ComputerEngmeenng Engmeenng University of New Mexico Albuquerque NM USA Center for Autonomous Control Engineering (ACE) and Department of Electrical & Computer Engineering University of New Mexico Albuquerque NM USA

With the emerging applications of multi-agent systems, there is always a need for simulation to verify the results before actual implementation. Multi-agent simulation provides a test bed for several soft-computing algorithms like fuzzy logic, learning automata, evolutionary algorithms, etc. In this paper we discuss the fusion of these soft-computing methodologies and existing tools for discrete event simulation (DEVS) for multi-agent simulation. We propose a methodology for combining the agent-based architecture, discrete event system and soft-computing methods in the simulation of multi-agent robotics and network security system. We also define a framework called Virtual Laboratory (V-Lab/spl reg/) for multi-agent simulation using intelligent tools.

关键词： Discrete event simulation Multiagent systems Automatic testing Logic testing Fuzzy logic Learning automata Evolutionary computation Discrete event systems Robotics and automation Laboratories

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New segmentation methods of the comet assay images 5

New segmentation methods of the comet assay images

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5th IFAC Symposium on Modelling and control in Biomedical Systems 2003

作者： Smolka, Bogdan Plataniotis, Konstantinos N. Venetsanopoulos, Anastasios N. Lukac, Rastislav Department of Automatic Control Silesian University of Technology Akademicka 16 Str. Gliwice44-101 Poland Department of Electrical and Computer Engineering University of Toronto 10 King's College Road Toronto Canada Slovak Image Processing Center Jarkova 343 Dobsina049 25 Slovakia

The single cell gel electrophoresis, called Comet Assay is a microelectrophoretic technique of direct visualization of DNA damage at the cell level. In the comet assay, the cells suspended in an agarose gel on a microscope slide are subjected to lysis, unwinding of DNA and electrophoresis. After staining with fluorescent DNA binding dye, cells with DNA damage display increased migration of genetic material from the cell nucleus. Under the influence of weak, static electric field, charged DNA migrates away from the nucleus forming a so called comet. The damage is quantified by measuring the amount of the genetic material, which migrates from the nucleus to form the comet tail. The foremost advantage of the comet assay is that it analyses individual cells, thus allowing the measurement of the heterogeneity of response within a cell population. In this paper we present three novel methods of the comet tail and head extraction. Copyright © 2003 IF A C.

关键词： Image enhancement

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Goal seeking with obstacle avoidance behavior for mobile robots

Goal seeking with obstacle avoidance behavior for mobile rob...

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Midwest Symposium on Circuits and Systems (MWSCAS)

作者： B.B.K. Reddy B. Kimiaghalam Abdollah Homaifar A.C. Esterline B. Sayyarrodsari N.S. Dugan NASA Autonomous Control and Information Technology Center Electrical and Computer Engineering Department North Carolina Agriculture and Technical State University USA

The objective of this paper is to briefly discuss the goal seeking with obstacle avoidance behavior (GSOA) for mobile robots. Hardware and software implementation using the Pioneer DX robot is also discussed. The detailed implementation of the MATLAB code with Visual C++ is also provided which is the underlying methodology for the software developed

关键词： Mobile robots Robot kinematics Robot sensing systems Orbital robotics Sonar MATLAB Sockets Batteries NASA Paper technology

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