Stability theory plays a central role in system theory and engineering. Stability of equilibriumpoints is usually characterized in the sense of Lyapunov. Based on Lyapunov theory, this paper proposes a general methodo...
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This paper presents an investigation into application of controller tuning using improved bacterial foraging algorithm (BFA) namely exponentially adaptive BFA (EABFA). The objective of the work is to evaluate the perf...
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A new optimal strategy based on symbiotic modelling is proposed. The system combines Linear Regression Model (LR), Non-Linear Iterative Partial Adaptive Least Square Model (NIPALS), Neural Network Model with double lo...
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Telerobotics is one of the most traditional fields of robotics and it played a crucial role in the history of robotics and of the mankind, especially in the areas of space and undersea exploration and of remote materi...
Telerobotics is one of the most traditional fields of robotics and it played a crucial role in the history of robotics and of the mankind, especially in the areas of space and undersea exploration and of remote material handling. On the other hand, teleoperation is still a very active research area and many problems are still open. In particular, the design of the control strategy for coupling local and remote site is of paramount importance for implementing telepresence, namely the feeling of being directly interacting with the remote environment. The IEEE RAS Technical Committee on Telerobotics would like to propose a half-day tutorial for illustrating several successful control strategies for implementing high performance bilateral teleoperation systems.
We earlier introduced a novel framework for realization of Adaptive Autonomy (AA) in human-automation interaction (HAI). This study presents an expert system for realization of AA, using Support Vector Machine (SVM), ...
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We earlier introduced a novel framework for realization of Adaptive Autonomy (AA) in human-automation interaction (HAI). This study presents an expert system for realization of AA, using Support Vector Machine (SVM), referred to as Adaptive Autonomy Support Vector Machine Expert System (AASVMES). The proposed system prescribes proper Levels of Automation (LOAs) for various environmental conditions, here modeled as Performance Shaping Factors (PSFs), based on the extracted rules from the experts' judgments. SVM is used as an expert system inference engine. The practical list of PSFs and the judgments of GTEDC's (the Greater Tehran Electric Distribution Company) experts are used as expert system database. The results of implemented AASVMES in response to GTEDC's network are evaluated against the GTEDC experts' judgment. Evaluations show that AASVMES has the ability to predict the proper LOA for GTEDC's Utility Management Automation (UMA) system, which changes in relevance to the changes in PSFs; thus providing an adaptive LOA scheme for UMA.
This paper discusses current work on the input tracking control of single-link flexible manipulator systems. Joint-based control (JBC) is tuned using bacterial foraging algorithm (BFA). The objective of the work is to...
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This paper presents a simple and novel sensorless scheme for five-phase induction motor control. The power measurement is used for speed computation. The drive is controlled using direct torque control (DTC). Speed se...
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This paper presents a simple and novel sensorless scheme for five-phase induction motor control. The power measurement is used for speed computation. The drive is controlled using direct torque control (DTC). Speed sensorless control scheme is tested under speed variation and load changes. The control method is simulated and implemented in real time on the DS1103 board.
Metamaterials have recently received significant interest in several fields. They provide the ability to construct materials with unique physical characteristics. This notably includes materials with a negative refrac...
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ISBN:
(纸本)9781617823961
Metamaterials have recently received significant interest in several fields. They provide the ability to construct materials with unique physical characteristics. This notably includes materials with a negative refractive index, the implications of which are wave refraction in the opposite direction to the conventional sense during propagation between mediums with opposite signed refractive indices. Most of the developments for pressure waves are limited to fluid borne noise in a frequency regime determined by their physical construction. This paper presents methods which allow solid viscoelastic metamaterials with controllable properties to be constructed. It is shown how it is possible to construct materials which have both a negative effective density and elasticity in a desired frequency zone. These methods provide a notable step towards the practical realization of some of the proposed novel applications of metamaterials.
Selection of an efficient model parametrization (model order, delay, etc.) has crucial importance in parametric system identification. It navigates a trade-off between representation capabilities of the model (structu...
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ISBN:
(纸本)9781612848006
Selection of an efficient model parametrization (model order, delay, etc.) has crucial importance in parametric system identification. It navigates a trade-off between representation capabilities of the model (structural bias) and effects of over-parametrization (variance increase of the estimates). There exists many approaches to this widely studied problem in terms of statistical regularization methods and information criteria. In this paper, an alternative l_(1) regularization scheme is proposed for estimation of sparse linear-regression models based on recent results in compressive sensing. It is shown that the proposed scheme provides consistent estimation of sparse models in terms of the so-called oracle property, it is computationally attractive for large-scale over-parameterized models and it is applicable in case of small data sets, i.e., underdetermined estimation problems. The performance of the approach w.r.t. other regularization schemes is demonstrated in an extensive Monte Carlo study.
The paper presents the concept and implementation of an intelligent motion controller for a low power brushless servodrive. Fuzzy logic control and fuzzy reasoning tuning procedures are used for speed and current cont...
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