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29th AAAI Conference on Artificial Intelligence, AAAI 2015

作者： Mousavi, Amin Araabi, Babak Nadjar Ahmadabadi, Majid Nili Robotics and AI Lab Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Iran School of Cognitive Science Tehran Iran

ISBN: (纸本)9781577357209

This article discusses the notion of context transfer in reinforcement learning tasks. Context transfer, as defined in this article, implies knowledge transfer between tasks that share the same environment's dynamics and reward function, but have different state and action spaces. For example, we have a working mobile robot in an environment. At some point, we decide to upgrade its sensors and/or actuators. Any change in these modules will result in a different description of the agent- environment model, and the trained knowledge is no longer applicable. We consider the tasks of the old and new robots, as the source and target tasks, respectively. The Markov decision process (MDP) of these tasks, under certain conditions, are called Q-transferable tasks, and the problem of knowledge transfer between them is called context transfer. We investigate the relation of the MDPs of these tasks. Copyright © 2015, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Markov processes

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Optimal transmission switching as a remedial action to enhance composite system reliability

Optimal transmission switching as a remedial action to enhan...

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2015 Smart Grid Conference, SGC 2015

作者： Khorram, Seyed Abbas Tabatabaei Fard, Ali Abbaspour Tehrani Fotuhi-Firuzabad, Mahmud Safdarian, Amir Department of Electrical Engineering Center of Excellence in Power System Management and Control Sharif University of Technology Tehran Iran

ISBN: (纸本)9781509003693

Increasing redundant paths in transmission grids has always been thought to be a tool to enhance service reliability. However, network equations by intertwining power flows through redundant paths impose more limits on systems with more redundancy. Accordingly, autonomous removing of a few lines may relief capacity limit violations in some contingency events thereby enhancing service reliability. This paper aims to study impacts of manual removing of transmission lines on composite system reliability. For doing so, the existing model is extended to consider optimal transmission switching (OTS) as a remedial action. The model minimizes total damage cost imposed by load curtailments. The extended model is formulated in mixed integer linear programming (MILP) format that can be easily solved via commercial solvers. The model is applied to likely contingencies wherein violations in capacity limits are encountered. Then, the results along with occurrence probability of the contingencies are taken into use to calculate load point and system oriented reliability indices. Simulation results on the modified reliability test system (MRTS) demonstrate great enhancements in service reliability when OTS is realized. © 2015 IEEE.

关键词： Integer programming

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Introduction of dimensioned approach to evaluation of distribution transformer short circuit forces 23

Introduction of dimensioned approach to evaluation of distri...

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23rd Iranian Conference on electrical engineering, ICEE 2015

作者： Moradnouri, Ahmad Vakilian, Mehdi Elhaminia, Pedram Bahrami, Mansour Electrical Engineering Department Center of Excellence in Power System Management and Control Sharif University of Technology Tehran Iran

ISBN: (纸本)9781479919727

in this paper the radial and axial forces developed under windings short circuit conditions in two different designs of a 630 kYA distribution transformer (using analytic a^id finite element method) are determined and compared. The simulation results using FEM software verify the results of the employed analytic method. These results show that although the transformer with larger dimensions have a better operating performance and lower total owning cost with respect to one with smaller sizes (assuming the same mechanical strength for winding and support structures of both), the risk of failure due to its related short circuit forces elevates in the former. Additionally, this paper presents some analytical expressions which demonstrate the relationships between short circuit forces and transformer geometrical parameters. These relationships help transformer designers to choose the best dimensional parameters to improve the transformer performance in such a way that risk of failure of transformer due to short circuit forces doesn't increase 01 increase in a lower paste if compared with the other sample. © 2015 IEEE.

关键词： Finite element method

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Output Synchronization of Multi-agent Systems with Nonlinear Non-minimum Phase Dynamics

Output Synchronization of Multi-agent Systems with Nonlinear...

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American control Conference

作者： Foroogh Shamsi H. A. Talebi Farzaneh Abdollahi Center of Excellence on Control and Robotics Department of Electrical Engineering Amirkabir University of Technology Tehran 15914 Iran

ISBN: (纸本)9781479917730

This paper deals with output synchronization problem in nonlinear multi-agent systems. The main contribution of the paper is to guarantee output synchronization in the network while the dynamics of agents exhibit non-minimum phase behavior. To achieve this goal, a control signal is presented for each agent consisting of two terms. The first term is a linear function of each agent states employed in order to overcome the non-minimum phase dynamics of the multiagent system, whereas the second term is a function of the output of neighboring agents which provides coupling among agents and guarantees output synchronization in the network. A numerical example is presented to verify the effectiveness of the proposed approach.

关键词： Agents synchronized network Output dynamics PHASE BEHAVIOR linear function

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Nonlinear Bilateral Teleoperation with Flexible-Link Slave Manipulator

Nonlinear Bilateral Teleoperation with Flexible-Link Slave M...

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RSI/ISM International Conference on robotics and Mechatronics

作者： A. Rashidinejad S. K. Y. Nikravesh H. A. Talebi The Center of Excellence on Control and Robotics Department of Electrical Engineering Amirkabir University of Technology Tehran 15914 Iran

ISBN: (纸本)9781467372350

This paper addresses bilateral control of a nonlinear teleoperation system with flexible-link slave manipulator. For this purpose, due to the non-minimum phase behavior of flexible-link manipulators, tip position tracking of the slave manipulator is performed based on the output redefinition method. Moreover, to compensate the uncertainties, a robustifying term is considered in the controller. However, disturbances exerted on the master robot are estimated via a nonlinear disturbance observer. Then, the master force controller is designed based on the estimated value and environmental force feedback from the slave part.

关键词： Bilateral teleoperation flexible-link manipulator output redefinition stability uncertainty

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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Counterattack detection in broadcast soccer videos using camera motion estimation

Counterattack detection in broadcast soccer videos using cam...

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2015 International Symposium on Artificial Intelligence and Signal Processing, AISP 2015

作者： Sigari, Mohamad-Hoseyn Soltanian-Zadeh, Hamid Kiani, Vahid Pourreza, Amid-Reza Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran Machine Vision Research Laboratory Computer Engineering Department Faculty of Engineering Ferdowsi University of Mashhad Mashhad Iran

ISBN: (纸本)9781479988174

This paper presents a new method for counterattack detection using estimated camera motion and evaluates some classification methods to detect this event. To this end, video is partitioned to shots and view type of each shot is recognized first. Then, relative pan of the camera during far-view and medium-view shots is estimated. After weighting of pan value of each frame according to the type of shots, the video is partitioned to motion segments. Then, motion segments are refined to achieve better results. Finally, the features extracted from consecutive motion segments are investigated for counterattack detection. We propose two methods for counterattack detection: (1) rule-based (heuristic rules) and (2) SVM-based. Experiments show that the SVM classifier with linear or RBF kernel results in the best results. © 2015 IEEE.

关键词： Motion estimation

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Mobile laser scanning based 3D technology for mineral environment modeling and positioning

Mobile laser scanning based 3D technology for mineral enviro...

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Ubiquitous Positioning Indoor Navigation and Location Based Service (UPINLBS)

作者： Yuwei Chen Jian Tang Juha Hyyppä Zhijie Wen Chuanrong Li Ting Zhu Center of Excellence of Laser Scanning Research Geospatial Research Institute (FGI) Kirkkonummi Finland Academy of Opto-electronics Chinese Academy of Science Beijing China State Key Laboratory of Mining Disaster Prevention and Control Shandong University of Science and Technology Shandong China Department of Computer Science and Electrical Engineering University of Maryland Baltimore County Maryland United States

The laser scanning based mobile mapping technology has been extensively investigated in academia in last two decades. It has been fully accepted by some traditional industries, such as surveying and forestry. However, for other traditional industries, the potential applications with such a high efficient, high speed 3D modeling technology are still underestimated. In this paper, we try to investigate the possibility of using such technology in coal mining - a typical soft rock mineral environment related application. 2D mapping accuracy in coal mine is preliminary evaluated, and the accuracy is approximately 5 cm under practical operation condition, and 3D modeling capability is also examined with generated point cloud, bars with width less than 5 cm can be modeled. Even though the tests are carried out in a soft rock coal mine, the results of this research can also be applied on other hard rock mineral environment without major modification.

关键词： Coal mining Three-dimensional displays Laser modes Mobile communication Coal Laser radar Solid modeling

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26th Annual Computational Neuroscience Meeting (CNS*2017) of the Organization for Computational Neuroscience Antwerp, Belgium, July 15-20, 2017

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 59-59页

作者： [Anonymous] Indiana University Purdue University Indianapolis Indianapolis IN 46032 USA Stark Neurosciences Research Institute Indiana University School of Medicine Indianapolis IN 46032 USA Department of Mathematics East Carolina University Greenville NC 27858 USA Jülich Supercomputing Centre Forschungszentrum Jülich 52425 Jülich Germany Future Systems Swiss National Supercomputing Centre 8092 Zurich Switzerland User Engagement and Support Swiss National Supercomputing Centre 6900 Lugano Switzerland Institut de Neurosciences des Systèmes Aix Marseille Univ 13005 Marseille France Simulation Lab Neuroscience Forschungszentrum Jülich Jülich Germany Department of Experimental Psychology Ghent University 9000 Ghent Belgium Donders Center for Cognitive Neuroimaging Radboud University 6525HR Nijmegen The Netherlands Department of Electrical Computer and Energy Engineering University of Colorado Boulder CO 80309 USA Department of Neurosurgery Johns Hopkins School of Medicine Baltimore MD 21287 USA Department of Neurology Johns Hopkins School of Medicine Baltimore MD 21287 USA Department of Otolaryngology Johns Hopkins School of Medicine Baltimore MD 21287 USA INSERM U968 Paris France Sorbonne Universités UPMC University Paris 06 UMR_S 968 Institut de la Vision Paris France CNRS UMR_7210 Paris France Department of Computer Architecture and Technology University of Granada (CITIC) Granada Spain Sorbonne Universités UPMC Univ Paris 06 INSERM CNRS Institut de la Vision Paris France Department of Adaptive Machine Systems Osaka University Osaka Japan Department of Computer Science University of Cergy-Pontoise Cergy-Pontoise France Department of Physics and Astronomy College of Charleston Charleston SC 29424 USA School of Physics Faculty of Science University of Sydney Sydney NSW 2006 Australia Center of Excellence for Integrative Brain Function Australian Research Council Sydney Australia Max Planck Institute for Human Cognitive and Brain Sciences Saxony Lei

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Discrete Sliding Mode control for a Non-minimum Phase Electro-hydraulic Actuator System

Discrete Sliding Mode Control for a Non-minimum Phase Electr...

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Asian control Conference

作者： R. Ghazali Y. M. Sam M. F. Rahmat C. C. Soon H. I. Jaafar Zulfatman Center for Robotics and Industrial Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Department of Control and Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia

ISBN: (纸本)9781479978632

The main objective of this paper is to perform a robust controller design using discrete-time sliding mode control (DSMC). In the control scheme, two-degree-of-freedom (2-DOF) control strategy turns the DSMC, which generally utilized state feedback into output feedback controller. The designed control scheme is considered with feedback and feedforward combination by implementing the zero phase error tracking control (ZPETC), which particularly intended for the nonminimum phase electro-hydraulic actuator (EHA) system application. In the experimental works, a sinusoidal trajectory with different frequencies is employed to assess the DSMC performance under nonlinear and uncertain condition. Experimental results show the DMSC with perfect tracking control approach is capable to reduce the phase lag occurred due to nonlinear phenomenon. The proposed controller also is highly robust under various points of trajectories and significantly shows enhancement in tracking control performance as compared to the conventional controllers.

关键词： Output feedback control Discrete sliding mode control Zero-phase-error-tracking control Electro-hydraulic actuator system

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