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31st International Conference on Electrical Engineering, ICEE 2023

作者： Samari, Behrad Yazdanpanah, Mohammad Javad University of Tehran Department of Electrical Engineering Tehran Iran School of Ece University of Tehran Control & Intelligent Processing Center of Excellence Tehran Iran

ISBN: (纸本)9798350312560

This article addresses the load frequency control (LFC) problem of control-area-partitioned power networks. An equivalent generator with second-order turbine-governor dynamics is utilized to model each control area, and power flows establish nonlinear couplings between control areas. As a consequence of the integration of the proportional-integral (PI) controller and the nonlinear controller, a novel suitable sliding manifold for enhancing dynamic performance is first proposed. Then, a decentralized second-order sliding mode (SOSM) controller is designed for LFC in power networks, which regulates the frequency and sustains the net inter-area power flows at the predetermined values. The simulation results demonstrate the efficacy of the proposed control strategy. © 2023 IEEE.

关键词： Decentralized control

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Experimental Study on Motion controller based on NN-ARX and ARMAX Actuator Identification for 3-DoF Delta Parallel Robot 11

Experimental Study on Motion Controller based on NN-ARX and ...

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11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023

作者： Jalali, Hasan Damavandi, Hossein Kalhor, Ahmad Masouleh, Mehdi Tale University of Tehran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering Tehran Iran Sadjad University Faculty of Computer Engineering and Information Technology Mashhad Iran University of Tehran Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering Tehran Iran

ISBN: (纸本)9798350308105

Today, system identification plays a pivotal role in control science and offering a myriad of applications. This paper places its focus on the identification of actuator models within real-world delta robots for informing controller design. Two identification methods, namely NN-ARX and ARMAX, have been employed to extract the dynamic characteristics of the robot actuators, resulting in dynamic models of these integral components being derived. These dynamic models have been utilized in simulations for controller design, and due to the disparities in the identification models, distinct controllers have been realized. Subsequently, these controllers have been practically implemented on delta robots, and their performances have been subjected to a comprehensive comparative analysis. The results demonstrate that controllers integrating the identified actuator models outperformed those designed without the incorporation of the identification models. In practice, the implementation of controllers based on NN-ARX yielded the most favorable results among all the tested controllers. This research not only underscores the importance of accurate actuator models in control system design but also highlights the superior performance of neural network-based controllers in real-world robotic applications. In particular, the practical results of NN-ARX-based controllers were able to achieve significantly lower RMSE of 2.3562, 1.9531, and 2.1185 for the three motors, respectively, as opposed to the 4.1369, 3.0125, and 3.0363 achieved by the ARMAX-based controllers. © 2023 IEEE.

关键词： controllers

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Cardiac Ischemia Detection Using Self-Organizing Map Feature Selection Method

Cardiac Ischemia Detection Using Self-Organizing Map Feature...

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Iranian Conference of Biomedical Engineering (ICBME)

作者： Ramin Aghili Karampour Amir Arshia Bakhtiar Kiarash Hajizamani Alireza Fallahi Hamid Soltanian Zadeh Biomedical Engineering Department Hamedan University of Technology Hamedan Iran Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (数字)9798331529710

ISBN: (纸本)9798331529727

Cardiac ischemia, a prevalent cause of heart failure, remains the leading cause of death in Iran. Early diagnosis of this condition is crucial, and electrocardiogram (ECG) signal processing techniques offer valuable insights. By analyzing ECG signals from ischemic patients and comparing them to those of normal individuals, we can extract relevant features for classification. Our study extracted some features from ECG signals, including statistical, time-based, frequency, and time-frequency features. We employed the self-organizing maps method (SOM) to identify the most informative features. Subsequently, we evaluated the classification accuracy using several machine learning algorithms, including support vector machines (SVM), Naive Bayes, Linear Discriminant Analysis (LDA), and Logistic Regression. The results demonstrated the superiority of the SOM method in selecting the best features compared to PCA, with accuracies of $\mathbf{9 1. 2 \%}, \mathbf{8 4. 3 \%}, \mathbf{7 2. 5 \%}$, and $88.9 \%$ for SVM, LDA, NB, and LR methods, respectively. Our findings contribute to the early detection and management of cardiac ischemia, potentially improving patient outcomes.

关键词： Self-organizing feature maps Support vector machines Time-frequency analysis Logistic regression Accuracy Machine learning algorithms Electrocardiography Signal processing Feature extraction Principal component analysis

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Second-Order Sliding Mode Design Based on the Integration of Proportional-Integral and Nonlinear controllers for Load Frequency control

Second-Order Sliding Mode Design Based on the Integration of...

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Iranian Conference on Electrical Engineering (ICEE)

作者： Behrad Samari Mohammad Javad Yazdanpanah Department of Electrical Engineering University of Tehran Tehran Iran Control & Intelligent Processing Center of Excellence School of ECE University of Tehran Tehran Iran

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Challenges of using artificial intelligence to detect valvular heart disease from chest radiography

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The Lancet Digital Health 2024年第1期6卷 e9页

作者： Nayebirad, Sepehr Okhovat, Amirali Hedayat, Behnam Masoudkabir, Farzad Shafiee, Akbar Kalhor, Ahmad Tehran Heart Center Cardiovascular Diseases Research Institute Tehran University of Medical Sciences Tehran*** Iran Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran

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Seven Benefits of Using Series Elastic Actuators in the Design of an Affordable, Simple controlled, and Functional Prosthetic Hand

Seven Benefits of Using Series Elastic Actuators in the Desi...

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IEEE/RSJ International Conference on intelligent Robots and Systems (IROS)

作者： Erfan Koochakzadeh Alireza Kargar Parsa Sattari Diba Ravanshid Rezvan Nasiri Research Institute for Robotics Artificial Intelligence and Information Science (RAIIS) Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper highlights the benefits of using series elastic actuators (SEA) in designing a cost-efficient, easily controlled, and functional prosthetic hand. The designed 3D-printed hand uses only two motors in an antagonistic configuration, transferring power to the fingers via pulleys, cables, and springs; i.e., the motors are in an SEA configuration with the load/fingers. In the designed underactuated prosthetic hand, the thumb is adjustable for various tasks, and the optimization of pulley diameters ensures synchronized finger movement during hand flexion and extension. Thanks to the SEA configuration of the motors and fingers, simple position control of the motor enables features like hand position control, morphological grasp, force control, impedance control, slippage detection, safe interaction, and efficient grasp. An extensive set of experiments has been conducted to evaluate the designed prosthetic hand’s performance. The experiments confirm the hand’s satisfactory performance while also highlighting the importance of improving the proposed design in different aspects. To attain better position control and morphological grasp, minimizing the cable-body and joint friction is recommended. A higher resolution of the current/torque sensor is needed for the precise force control and slippage detection. Finally, a motor brake system is required to achieve efficient grasping.

关键词： Hands Actuators Pulleys Thumb Position control Motors Synchronization Force control Springs Prosthetic hand

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Energy-Based control Approaches for Weakly Coupled Electromechanical Systems

arXiv

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arXiv 2024年

作者： Javanmardi, Najmeh Borja, P. Yazdanpanah, M.J. Scherpen, J.M.A. Jan C. Willems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen Groningen Netherlands School of Engineering Computing and Mathematics University of Plymouth Plymouth United Kingdom Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran

This paper addresses the regulation and trajectory-tracking problems for two classes of weakly coupled electromechanical systems. To this end, we formulate an energy-based model for these systems within the port-Hamiltonian framework. Then, we employ Lyapunov theory and the notion of contractive systems to develop control approaches in the port-Hamiltonian framework. Remarkably, these control methods eliminate the need for solving partial differential equations or implementing any change of coordinates, and are endowed with a physical interpretation. We also investigate the effect of coupled damping on the transient performance and convergence rate of the closed-loop system. Finally, the applicability of the proposed approaches is illustrated in two applications of electromechanical systems via simulations. © 2024, CC BY.

关键词： Damping

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A predictive model of death from cerebrovascular diseases in intensive care units

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intelligent Medicine 2023年第4期3卷 267-279页

作者： Mohammad Karimi Moridani Seyed Kamaledin Setarehdan Ali Motie Nasrabadi Esmaeil Hajinasrollah Department of Biomedical Engineering Faculty of HealthTehran Medical SciencesIslamic Azad UniversityTehranIran Control and Intelligent Processing Centre of Excellence School of Electrical and Computer EngineeringCollege of EngineeringUniversity of TehranTehranIran Departments of Biomedical Engineering Shahed UniversityTehranIran Loghman Medical Center Shahid Beheshti University of Medical SciencesTehranIran

Objective This study aimed to explore the mortality prediction of patients with cerebrovascular diseases inthe intensive care unit(ICU)by examining the important signals during different periods of admission in theICU,which is considered one of the new topics in the medical *** approaches have been proposed forprediction in this *** of these methods has been able to predict mortality somewhat,but many of thesetechniques require recording a large amount of data from the patients,where recording all data is not possiblein most cases;at the same time,this study focused only on heart rate variability(HRV)and systolic and diastolicblood *** The ICU data used for the challenge were extracted from the Multiparameter intelligent Monitoring inIntensive Care II(MIMIC-II)Clinical *** proposed algorithm was evaluated using data from 88 cerebrovascular ICU patients,48 men and 40 women,during their first 48 hours of ICU *** electrocardiogram(ECG)signals are related to lead II,and the sampling frequency is 125 *** time of admission and time ofdeath are labeled in all *** this study,the mortality prediction in patients with cerebral ischemia is evaluated using the features extracted from the return map generated by the signal of HRV and blood *** the patient’s future condition,the combination of features extracted from the return mapping generatedby the HRV signal,such as angle(𝛼),area(A),and various parameters generated by systolic and diastolic bloodpressure,including DBPMax−Min SBPSD have been ***,to select the best feature combination,the geneticalgorithm(GA)and mutual information(MI)methods were *** sample t-test statistical analysis was usedto compare the results of two episodes(death and non-death episodes).The P-value for detecting the significancelevel was considered less than *** The results indicate that the new approach presented in this paper can be compared with other methodsor l

关键词： Death prediction Cerebrovascular diseases Intensive care unit Heart rate variability Systolic and diastolic blood pressure Return map

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Dead-beat Identification for Model Reference Adaptive control⋆

Dead-beat Identification for Model Reference Adaptive Contro...

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IEEE Conference on Decision and control

作者： Ali Kashani Ahmad Kalhor Babak Nadjar Araabi Claus Danielson Mechanical Engineering department University of New Mexico NM US Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Iran

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

In this work, we propose a novel parameter identifier for linear time-invariant systems, which has the fastest possible convergence in principal (i.e., dead-beat). The identifier applies where states and derivatives of states can be measured. The identifier is applied to the certainty-equivalence (indirect) model reference adaptive control that relaxes the conventional assumptions about open-loop stability and persistent excitation in MRAC. Furthermore, in conventional MRAC the parameter convergence rate is proportional to the tracking error, whereas our proposed adaptation law has dead-beat dynamics. This method is previously applied to a Delta robot. In this paper, we present a theoretical analysis of the method by solving the identifier dynamics to get its closed-form solution and examine the effect of perturbations such as white additive noise, uncertainty, and disturbance. The linearized model of an actuated inverted pendulum with unknown parameters is used as a benchmark example.

关键词： Linear systems Adaptation models Uncertainty Closed-form solutions Perturbation methods Benchmark testing Stability analysis

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Robust trajectory tracking for underactuated mechanical systems without velocity measurements

arXiv

引用

arXiv 2023年

作者： Javanmardi, N. Borja, P. Yazdanpanah, M.J. Scherpen, J.M.A. Jan C. Willems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen Groningen Netherlands School of Engineering Computing and Mathematics University of Plymouth Plymouth United Kingdom Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran

In this paper, the notion of contraction is used to solve the trajectory-tracking problem for a class of mechanical systems. Additionally, we propose a dynamic extension to remove velocity measurements from the controller while rejecting matched disturbances. In particular, we propose three control designs stemming from the Interconnection and Damping Assignment Passivity-Based control approach. The first controller is a tracker that does not require velocity measurements. The second control design solves the trajectory-tracking problem while guaranteeing robustness with respect to matched disturbances. Then, the third approach is a combination of both mentioned controllers. It is shown that all proposed design methods guarantee exponential convergence of the mechanical system to the desired (feasible) trajectory due to the contraction property of the closed-loop system. The applicability of this method is illustrated via the design of a controller for an underactuated mechanical system. © 2023, CC BY.

关键词： controllers

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