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2011 American control Conference (ACC)

作者： Saleh Mobayen Mohammad Javad Yazdanpanah Vahid Johari Majd Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Moalem University Tehran Iran Control & Intelligent Processing Center of Excellence School of Electrical & Computer Engineering University of Tehran Iran

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.

关键词： Mobile robots Trajectory Mathematical model Equations Convergence Tracking

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A complete operational architecture of alert correlation

A complete operational architecture of alert correlation

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International Conference on Computational Aspects of Social Networks, CASON

作者： Fatemeh Amiri Hossein Gharaee Ali Reza Enayati Center of Excellence: Control and Intelligent Processing of Electrical and Computer Engineering University of Tehran Tehran Iran Network Security Group Iran Telecommunication Research Center Tehran Iran

To defend against various attacks, many security systems such as intrusion detection systems are deployed into hosts and networks to better protect digital assets. However, there are well-known problems related to the current intrusion detection systems. To better understand security threats from various sources and take appropriate response, it is necessary to perform alert correlation. This paper proposes a general alert correlation architecture, including four important components: log management, alert correlation, incident response and knowledge base system. The focus is to describe most important operations in alert correlation component. The proposed architecture includes anomaly-based analysis in alert correlation component. Different techniques for alert correlation are reviewed and compared. This study proposes that a hybrid model of multiple techniques leads to better performance of alert correlation engine.

关键词： Correlation Intrusion detection Knowledge based systems Computer architecture Sensor phenomena and characterization

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An Adaptive Observer for Linear Systems with Reduced Adaptation Laws and Measurement Faults

An Adaptive Observer for Linear Systems with Reduced Adaptat...

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2011 Chinese control and Decision Conference（CCDC）

作者： Amirhossein Nikoofard Farzad R.Salmasi Ali Khaki Sedigh Control and Intelligent Processing Center of Excellence ECE Department College of EngineeringUniversity of Tehran Faculty of Electrical Engineering Khajeh Nasir Toosi University of Technology

In this note,an adaptive observer is considered for simultaneous estimation of the states and unknown parameters of linear stationary systems with faulty *** entries of system matrices are functions of only a few parameters,it is enough to tune those parameters,instead of adapting all *** leads to reduced adaptation ***,the problem of measurement offset and gain faults are also *** stability and convergence of the proposed adaptive observer is *** results validate the performance of the proposed adaptive observer.

关键词： Adaptive observer,parameter estimation,measurement fault,induction motor

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intelligent control of human prosthetic eye movements system for the emotional support by a huggable pet-type robot via Gaussian RBF neural network based on sliding mode control

Intelligent Control of human prosthetic eye movements system...

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2011 2nd International Conference on control, Instrumentation and Automation, ICCIA 2011

作者： Farivar, Faezeh Kandroodi, Mojtaba Rostami Shoorehdeli, Mahdi Aliyari Department of Mechatronics Engineering Science and Research Branch Islamic Azad University Tehran Iran Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Faculty of Electrical Engineering Department of Mechatronics Engineering K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467316903

In this study, intelligent control of human eye movements system for the emotional support by a huggable pet type robot via Gaussian RBF neural network based on sliding mode control is presented. Despite active research and significant progress in the last three decades on control of human eye movements, it remains challenging issue due to its applications in prosthetic eyes and robotics. The geometry and model of human eye movements system are investigated and this system is considered as a nonlinear control system. The specified model may only be an academic exercise. It can have scientific importance in understanding of the human movement system in general. Also, it can be useful for robotics. By using Gaussian RBF Neural Networks Based on Sliding Mode control, the control goal can be achieved. The adaptation laws of designed controllers are obtained based on sliding mode control methodology without calculating the Jacobian of the system. The proposed method is capable to control of human eye movements system. intelligent methods such as artificial neural networks are proposed to control the human eye movements and numerical simulations are presented. It is concluded that the intelligent controls applied to control of human eye movements system are emulated from the neural controls in biological system. © 2011 IEEE.

关键词： Sliding mode control

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Voxel based treatment prediction using diffusion anisotropy indices and spatial information in Glioblastoma Multiform tumor

Voxel based treatment prediction using diffusion anisotropy ...

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2011 18th Iranian Conference of Biomedical Engineering, ICBME 2011

作者： Sabahi, Hadi Soltanian-Zadeh, Hamid Scarpace, Lisa Mikkelsen, Tom Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran 14395-515 Iran Image Analysis Laboratory Radiology Department Henry Ford Hospital Detroit MI 48202 United States Hermelin Brain Tumor Research Center Neurosurgery Department Henry Ford Health System Detroit MI 48202 United States

ISBN: (纸本)9781467310055

In this paper, we propose a method to predict the outcome of Bevacizumab therapy on Glioblastoma Multiform (GBM) tumors. The method uses diffusion anisotropy indices (DAI) and spatial information to predict the treatment response of each tumor voxel. These DAIs are Fractional Anisotropy, Mean Diffusivity, Relative Anisotropy, and Volume Ratio, extracted from Diffusion Tensor Imaging (DTI) data before treatment. The spatial information is considered as the distance of each tumor voxel from the tumor center, extracted from pre-treatment post-contrast T1-weighted Magnetic Resonance Images (pc-T1-MRI). DAIs and spatial information of each tumor voxel are considered as feature vector. DTI and pc-T1-MRI are gathered before and after the treatment of seven GBM patients. First, DAIs of all brain voxels and the distance of each tumor voxel from the tumor center are calculated. Second, the method registers pre-treatment DAI maps and post-treatment pc-T1-MRI to pre-treatment pc-T1-MRI. Next, the tumor is segmented using thresholding technique from pc-T1-MRI. Then, Gd-enhanced voxels of the pre- and post-treatment pc-T1-MRI are compared to label the feature vectors. Three classifiers were evaluated, including Support Vector Machine, K-Nearest Neighbor, and Artificial Neural Network. Classification results show a preference for K-Nearest Neighbor based on well-established performance measures. © 2011 IEEE.

关键词： Tumors

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Wavelet-Based Ultrasound Image Denoising: Performance Analysis and Comparison

Wavelet-Based Ultrasound Image Denoising: Performance Analys...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： F. Yousefi Rizi H. Ahmadi Noubari S. K. Setarehdan Control and Intelligent Processing Center of Excellence School of Electrical and Computer Eng. College of Engineering University of Tehran School of Electrical and Computer Eng. University of Tehran

ISBN: (纸本)9781424441211

Ultrasound images are generally affected by multiplicative speckle noise, which is mainly due to the coherent nature of the scattering phenomenon. Speckle noise filtering is thus a critical pre-processing step in medical ultrasound imaging provided that the diagnostic features of interest are not lost. A comparative study of the performance of alternative wavelet based ultrasound image denoising methods is presented in this article. In particular, the contourlet and curvelet techniques with dual tree complex and real and double density wavelet transform denoising methods were applied to real ultrasound images and results were quantitatively compared. The results show that curvelet-based method performs superior as compared to other methods and can effectively reduce most of the speckle noise content of a given image.

关键词： Ultrasonography speckle noise Ultrasonic Waves analytical comparison image denoising Real number image denoising method

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control of Flexible Joint Manipulator via Reduced Rule-Based Fuzzy control with Experimental Validation

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International Scholarly Research Notices 2012年第1期2012卷

作者： Mojtaba Rostami Kandroodi Mohammad Mansouri Mahdi Aliyari Shoorehdeli Mohammad Teshnehlab Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iranut.ac.ir Department of Control Engineering Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Irankntu.ac.ir Department of Mechatronics Engineering Faculty of Electrical Engineering K.N. Toosi University of Technology Tehran Irankntu.ac.ir

A novel structure of fuzzy logic controller is presented for trajectory tracking and vibration control of a flexible joint manipulator. The rule base of fuzzy controller is divided into two sections. Each section includes two variables. The variables of first section are the error of tip angular position and the error of deflection angle, while the variables of second section are derivatives of mentioned errors. Using these structures, it would be possible to reduce the number of rules. Advantages of proposed fuzzy logic are low computational complexity, high interpretability of rules, and convenience in fuzzy controller. Implementing of the fuzzy logic controller on Quanser flexible joint reveals efficiency of proposed controller. To show the efficiency of this method, the results are compared with LQR method. In this paper, experimental validation of proposed method is presented.

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Set-point Regulation of Constrained Strongly Monotone Systems

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IFAC Proceedings Volumes 2011年第1期44卷 11030-11035页

作者： H. Agahi M.J. Yazdanpanah School of Electrical and Computer Engineering University of Tehran Tehran Iran Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering University of Tehran P.O. Box 14395/515 Tehran Iran

Abstract To date, monotone systems have been basically studied from the analysis viewpoint, whereas control design issues for such dynamical systems have not been considerably remarked. This paper focuses on set-point regulation of output of strongly monotone systems using a static output feedback under input constraints. The design procedure, in the cast of a new theorem, is derived from Hirsch theorem for autonomous systems. The proposed theorem ensures that the closed-loop system, even under input saturation, remains strongly monotone. The resulting control law will guarantee the closed-loop stability and offset-free output regulation.

关键词： Strongly monotone systems order preservation output feedback set-point regulation

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Wavelet-based EEG denoising for automatic sleep stage classification

Wavelet-based EEG denoising for automatic sleep stage classi...

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21st International Conference on Electronics Communications and Computers, CONIELECOMP 2011

作者： Estrada, Edson Nazeran, Homer Sierra, Gustavo Ebrahimi, Farideh Setarehdan, S. Kamaledin Department of Electrical and Computer Engineering University of Texas at El Paso El Paso TX United States Instituto de Ciencias BiomédicasUniversidad Autónoma de Ciudad Juárez Cd. Juárez Chih Mexico Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (纸本)9781424495573

In automatic sleep stage classification, as in any other signal processing task involving the easily contaminated EEG signals, denoising constitutes a crucial pre-processing step that must be addressed before carrying out further analysis on the EEG signals. Discrete wavelet transform offers an effective solution for denoising nonstationary signals such as EEG due to its shrinkage property. In this paper, we explored the application of wavelet denoising method to EEG signals acquired during different sleep stages classified according to the RK rules, with the objective to identify suitable thresholding rules and threshold values. Preliminary results showed that the combination of soft thresholding rule applied to the Detailed wavelet coefficients with the Universal threshold value produced better performance measures such as a smaller Minimum Squared Error (MSE) and a larger signal-to-Noise Ratio (SNR). Similarly improved results were obtained for Stage 1, Stage 2, Stage 3, Stage 4 and REM stage EEG signals using this combination. Such thresholding rule and values are equally well applicable to denoising EEG epochs acquired from deep sleep stages. © 2011 IEEE.

关键词： Signal to noise ratio

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Increasing the robustness of Acrobot walking control using compliant mechanisms

Increasing the robustness of Acrobot walking control using c...

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2011 IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Maziar Ahmad Sharbafi Mohammad Javad Yazdanpanah Majid Nili Ahmadabadi School of Electrical and Computer Engineering University of Tehran Tehran Iran Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering University of Tehran Tehran Iran

Application of the compliance to increase the robustness of the bipedal walker locomotion is the main target of this paper. The control of bipedal robots with point feet is one of the most challenging problems in the domain of hybrid dynamical systems. In order to make an exponentially stable periodic walking for an Acrobot as a planar biped with only one degree of freedom, a controller is designed based on the hybrid zero dynamics analysis. Then, through appropriate alterations in robot structure, the controller complexities are reduced which result in fewer parameters for tuning. Improvement of the robot structure via compliance insertion not only compensates the lower degree of freedom of the control design process, but also expands the domain of stability of the closed-loop system. In this regard, a nonlinear damper is inserted between two legs of Acrobot to enable it to walk on a wider range of slopes. The main controller is designed for walking on a flat terrain and the compliance of the damper empowers it to make stable walking on slopes up to 17°. The simulation results confirmed the efficiency of the proposed approach.

关键词： Legged locomotion Mathematical model Stability analysis Force Polynomials

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