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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： K. Naderi A. Nejadfard H. Moradi M. Nili Ahmadabadi School of Electrical and Computer Engineering University of Tehran Iran Control and Intelligent Processing Center of Excellence at the Electrical and Computer Engineering Department University of Tehran Iran

In this paper we propose a centralized algorithm for stable operation of a multi-robot dome inspection, repair, and maintenance based on potential field method. The multi-robot system consists of two robots, a leader robot and a supporter robot, connected to each other by two strings. The follower robot sends its information to the leader robot for processing and receiving commands. The leader robot uses the friction model, the slope of the dome detected by the two robots' tilt sensors and the mass of the robots to calculate the stability ranges and determines the proper action to make the whole system stable. The leader robot moves toward its target pose while adjusting the tension of its string using potential field method to combine the attractive and repulsive potentials. The follower robot executes the commands sent by the leader robot to create the most stable configuration for the whole system. It is shown that the algorithm can guarantee stable operation all over a typical dome. The algorithm has been implemented and shown its effectiveness in simulation. Furthermore, the effect of each parameter has been discussed and it is shown that the multi-robot system is capable of completely covering a typical dome using the proposed potential field algorithm.

关键词： Robot sensing systems Lead Maintenance engineering Radio frequency Force Service robots

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ECG power line interference removal using combination of FFT and adaptive non-linear noise estimator

ECG power line interference removal using combination of FFT...

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Iranian Conference on electrical engineering (ICEE)

作者： Fatemeh Shirbani Seyed Kamaledin Setarehdan School of Electrical and computer Engineering College of Engineering University of Tehran Tehran Iran Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran

Modern ECG instruments have a very high common mode rejection ratio to reduce power-line interference noise as much as possible. Nevertheless, the residual power-line noise should be eliminated. Due to the fact that, the central frequency of power-line may alters about ±1Hz and the desired signals around the central frequency should not be attenuated, applying the ideal notch filter with a fixed frequency or a band stop filter is not practical. Benefitting from the powerful microcontroller STM32F4 in a new brand of Electrocardiograph instrument “Araz630”, we present a low cost efficient method of powerline noise removal. This method includes an FFT-based algorithm to find the center frequency of power-line and then subtracting the noise estimated by adaptive non-linear algorithm. In our implementation, we achieve between 30 to 35 dB of cancellation of the fundamental power-line noise component and the central frequency is obtained by the resolution of 0.1 Hz.

关键词： Noise Interference Electrocardiography Time-frequency analysis Digital filters Equations IIR filters

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Active disturbance rejection control on path following for underactuated ships

Active disturbance rejection control on path following for u...

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10th International Symposium on Neural Networks, ISNN 2013

作者： Li, Ronghui Li, Tieshan Zheng, Qingling Gao, Xiaori Navigation College of Dalian Maritime University No.1 Linghai Road 116026 Dalian China Center of Advanced Control Technologies Department of Electrical Computer Engineering Cleveland State University Cleveland OH United States

ISBN: (纸本)9783642390678

To solve the path following problem of underactuated surface ships with internal dynamic uncertainties and external disturbances, an Active-Disturbance-Rejection control (ADRC) controller is introduced to steer the ship to follow the desired path. Drift angle compensation is added to the controller by designing a coordinate transformation equation. The cross track static error caused by wind and current is overcome. Simulations were carried out on a fully nonlinear hydrodynamic model of a training ship to validate the stability and excellent robustness of the proposed controller. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： controllers

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A New Evolutionary-Incremental Framework for Feature Selection

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Advances in Artificial Intelligence 2014年第1期2014卷

作者： Mohamad-Hoseyn Sigari Muhammad-Reza Pourshahabi Hamid-Reza Pourreza Machine Vision Research Lab. Computer Engineering Department Ferdowsi University of Mashhad Mashhad 91779 Iranum.ac.ir Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran 14399 Iranut.ac.ir

Feature selection is an NP-hard problem from the viewpoint of algorithm design and it is one of the main open problems in pattern recognition. In this paper, we propose a new evolutionary-incremental framework for feature selection. The proposed framework can be applied on an ordinary evolutionary algorithm (EA) such as genetic algorithm (GA) or invasive weed optimization (IWO). This framework proposes some generic modifications on ordinary EAs to be compatible with the variable length of solutions. In this framework, the solutions related to the primary generations have short length. Then, the length of solutions may be increased through generations gradually. In addition, our evolutionary-incremental framework deploys two new operators called addition and deletion operators which change the length of solutions randomly. For evaluation of the proposed framework, we use that for feature selection in the application of face recognition. In this regard, we applied our feature selection method on a robust face recognition algorithm which is based on the extraction of Gabor coefficients. Experimental results show that our proposed evolutionary-incremental framework can select a few number of features from existing thousands features efficiently. Comparison result of the proposed methods with the previous methods shows that our framework is comprehensive, robust, and well-defined to apply on many EAs for feature selection.

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Tuning and experimental evaluation of a likelihood-based engine knock controller

Tuning and experimental evaluation of a likelihood-based eng...

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52nd IEEE Conference on Decision and control, CDC 2013

作者： Thomasson, Andreas Eriksson, Lars Lindell, Tobias Peyton Jones, James C. Spelina, Jill Frey, Jesse Division of Vehicular Systems Department of Electrical Engineering Linkoping University Linkoping SE-581 83 Sweden Center for Nonlinear Dynamics and Control Department of Electrical and Computer Engineering Villanova University Villanova PA 19085 United States Center for Nonlinear Dynamics and Control Villanova University Villanova PA 19085 United States Science Technology Engineering and Mathematics Division Delaware County Community College Media PA 19063 United States Department of Mathematics and Statistics Villanova University Villanova PA 19085 United States

ISBN: (纸本)9781467357173

A new likelihood-based stochastic knock controller, that achieves a significantly improved regulatory response relative to conventional strategies, while also maintaining a rapid transient response is presented. Up until now it has only been evaluated using simulations and the main contribution here is the implementation and validation of the knock controller on a five cylinder engine with variable compression ratio. Furthermore, an extension of the fast response strategy and a re-tuning of the controller is shown to improve performance. The controller is validated with respect to its robustness to changes in engine operating condition as well as compression ratio. The likelihood-based controller is demonstrated in engine tests and compared to a conventional controller and it is shown that it is able to operate closer to the knock limit with less variations in control action without increasing the risk of engine damage. © 2013 IEEE.

关键词： controllers

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Continuous-variable quantum key distribution with entanglement in the middle

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Physical Review A 2013年第2期87卷 022308-022308页

作者： Christian Weedbrook Center for Quantum Information and Quantum Control Department of Electrical and Computer Engineering University of Toronto Toronto ON M5S 3G4 Canada

We analyze the performance of continuous-variable quantum key distribution protocols where the entangled source originates not from one of the trusted parties, Alice or Bob, but from the malicious eavesdropper in the middle. This is in contrast to the typical simulations where Alice creates the entangled source and sends it over an insecure quantum channel to Bob. By using previous techniques and identifying certain error-correction-protocol equivalences, we show that Alice and Bob do not need to trust their source and can still generate a positive key rate. Such a situation can occur in a quantum network where the untrusted source originated in between the two users.

关键词： Quantum entanglement

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Optimal control of Partially Observable Discrete Time Stochastic Hybrid Systems for Safety Specifications

Optimal Control of Partially Observable Discrete Time Stocha...

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American control Conference

作者： Jerry Ding Alessandro Abate Claire Tomlin Department of Electrical Engineering and Computer Sciences University of California at Berkeley Delft Center for Systems and Control Delft University of Technology

ISBN: (纸本)9781479901777

This paper describes a theoretical framework for the design of controllers to satisfy probabilistic safety specifications for partially observable discrete time stochastic hybrid systems. We formulate the problem as a partial information stochastic optimal control problem, in which the objective is to maximize the probability that the state trajectory remains within a given safe set in the hybrid state space, using observations of the history of inputs and outputs. It is shown that this optimal control problem, which has a multiplicative payoff structure, is equivalent to a terminal payoff problem when the state space is augmented with a binary random variable capturing the safety of past state evolution. This allows us to derive a sufficient statistic for the probabilistic safety problem as a set of Bayesian filtering equations updating a conditional distribution on the augmented state space, as well as an abstract dynamic programming algorithm for computing the maximal probability of safety and an optimal control policy.

关键词： state space hybrid systems safety specification Optimal control Safety Problem discrete-time state trajectory control strategy

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Incommensurate order fractional optimal control: Application to treatment of psychiatric disorders

Incommensurate order fractional optimal control: Application...

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Iranian Conference on electrical engineering (ICEE)

作者： S. S. Tabatabaei M. J. Yazdanpanah M. S. Tavazoei Department of Electrical Engineering Amirkabir University of Technology Tehran Iran Advanced Control Systems Laboratory Control and Intelligent Processing Center of Excellence School of Electrical and Computer Tehran Iran Electrical Engineering Department Sharif University of Technology Tehran Iran

ISBN: (纸本)9781467356329

The main point of this paper is to present a time domain strategy for drug dosage to treat psychiatric disorders. A time domain model of emotion is obtained from an extension of a recently developed fractional nonlinear dynamic model of happiness. First, the Fractional Optimal control law for incommensurate multi state systems is obtained. It will be then applied as an optimal drug administration procedure in the line of psychiatric disorders treatment. Results of this paper show that optimal control scheme is a proper approach to face the difficulties of analysis and control the incommensurate systems. It can be also clearly seen from the simulation results that this approach is very effective in the case that control methods are used as treatment techniques.

关键词： Mathematical model Drugs Optimal control Numerical models Differential equations Equations

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Investigation of the Impact of the Upstream Induction Zone on LIDAR Measurement Accuracy for Wind Turbine control Applications using Large-Eddy Simulation

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Journal of Physics: Conference Series 2014年第1期524卷

作者： Eric Simley Lucy Y Pao Pieter Gebraad Matthew Churchfield Department of Electrical Computer and Energy Engineering University of Colorado Boulder CO USA Delft Center for Systems and Control Delft University of Technology Delft The Netherlands National Wind Technology Center National Renewable Energy Laboratory Golden CO USA

Several sources of error exist in lidar measurements for feedforward control of wind turbines including the ability to detect only radial velocities, spatial averaging, and wind evolution. This paper investigates another potential source of error: the upstream induction zone. The induction zone can directly affect lidar measurements and presents an opportunity for further decorrelation between upstream wind and the wind that interacts with the rotor. The impact of the induction zone is investigated using the combined CFD and aeroelastic code SOWFA. Lidar measurements are simulated upstream of a 5 MW turbine rotor and the true wind disturbances are found using a wind speed estimator and turbine outputs. Lidar performance in the absence of an induction zone is determined by simulating lidar measurements and the turbine response using the aeroelastic code FAST with wind inputs taken far upstream of the original turbine location in the SOWFA wind field. Results indicate that while measurement quality strongly depends on the amount of wind evolution, the induction zone has little effect. However, the optimal lidar preview distance and circular scan radius change slightly due to the presence of the induction zone.

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Multiple-access relay channels with non-causal side information at the relay

Multiple-access relay channels with non-causal side informat...

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IEEE International Symposium on Information Theory

作者： Mohammad Osmani-Bojd Assadallah Sahebalam Ghosheh Abed Hodtani Communication and Computer Research Center Department of Electrical Engineering Ferdowsi University of Mashhad Mashhad Iran Research and Development Center of Tarrahan Control Shargh Mashhad Iran Department of Electrical Engineering Ferdowsi University of Mashhad Mashhad Iran

ISBN: (纸本)9781479904440

In this paper, we derive an inner bound for two-user state-dependent multiple-access relay channel (MARC) via decode and forward strategy (DF) in which the states of channel are known non-causally at the relay. The inner bound is obtained by using a combination of binning scheme and codeword splitting. Codeword splitting at the relay is applied to generating two codebooks, one for utilizing a joint codebook between the relay and the transmitters and another for utilizing the channel state information. Furthermore, we obtain an outer bound for this model. Actually, our work is a generalization of Zaidi et al. work on the relay channel with informed relay to the MARC.

关键词： Relays Encoding Markov processes Electromagnetic compatibility Transmitters Decoding

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