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International Conference on Mechatronics (ICOM)

作者： S. F. Toha M. O. Tokhi Department of Machatronics Faculty of Engineering International Islamic University Malaysia Kuala Lumpur Malaysia Department of Automatic Control & System Engineering University of Sheffield UK

control of vibration suppressions is crucial for applications in engineering particularly in the area of aircraft system. An augmented control approach encompasses of using a feedforward intelligent command shaping technique with combination of intelligent PID feedback control is presented in this paper. The advantage of using command shaping is to reduce system vibration. However, it can cause delay in system response resulting to a conflict between vibration suppression and rise time response. Multi-objective particle swarm optimization with spread factor (MOPSO-SF) is employ in this paper to determine a set of solutions for the amplitudes and corresponding time locations of impulses on an extra sensitive (El) command shaping as well as gain parameters for the PID controller. The effectiveness of the proposed technique is assessed both in the time domain and the frequency domain. Moreover, a comparative assessment of the performance of the technique with the system response and unshaped finite step input is presented.

关键词： Mechatronics

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Compensation of time-varying delay acting in networked control systems using adaptive Smith predictor and parallel fuzzy-PI controller

Compensation of time-varying delay acting in networked contr...

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International Conference on Mechatronics (ICM)

作者： Edin Dragolj Aida Brankovic Jasmin Velagic Nedim Osmic Department of Automatic Control and Electronics Faculty of Electrical Engineering University of Sarajevo Sarajevo Bosnia and Herzegovina

This paper focuses on problems which arise from network controlled systems within master-slave type of Communications. Since the master and slave are connected over the network, network-induced time-varying delay has negative impact on system stability and control system performance. In order to compensate an influence of delay in NCS we proposed the improvement of two control strategies, Smith predictive and parallel fuzzy-PI controllers. Design of parallel fuzzy-PI controller has no demands for mathematical model of controlled system. Parameters of PI controller are adjusted adaptively depending on the delay. Adaptive Smith predictor is based on the adaptive loop that decreases influence of network-induced delay. It requires a mathematical model of the controlled system. Furthermore, simulations and practical experiments are given to illustrate the effectiveness and robustness of the proposed methods.

关键词： Niobium

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ORF-MOSAIC for adaptive control of a biomimetic arm

ORF-MOSAIC for adaptive control of a biomimetic arm

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2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

作者： Ardakani, M. Mahdi Ghazaei Jörntell, Henrik Johansson, Rolf Department of Computer Science Faculty of Engineering Lund University 221 00 Lund Sweden Department of Experimental Medical Sciences Lund University Biomedical Center F10 221 84 Lund Sweden Department of Automatic Control Faculty of Engineering Lund University 221 00 Lund Sweden

ISBN: (纸本)9781457721373

This study is an attempt to take advantage of a cerebellar model to control a biomimetic arm. The cerebellar controller is a modified MOSAIC model which adaptively controls the arm. We call this model ORF-MOSAIC (Organized by Receptive Fields MOdular Selection And Identification for control). The arm features a musculoskeletal model which is controlled through muscle activations by means of optimization techniques. With as few as 16 modules, we were able to control the arm in a workspace of 30 x 30 cm. The system was able to adapt to an external field as well as handling new objects despite delays. The discussion section suggests that there are similarities between the microzones in the cerebellum and the modules of this new model. © 2011 IEEE.

关键词： Biomimetics

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Fuzzy logic based cycle-to-cycle control of FES-induced swinging motion

Fuzzy logic based cycle-to-cycle control of FES-induced swin...

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International Conference on Electrical, control and Computer engineering (INECCE)

作者： B.S. K. K. Ibrahim M.O. Tokhi M.S. Huq S.C. Gharooni Department of Mechatronics and Robotics Faculty of Electrical & Electronic Engineering University of Tun Hussein Onn Batu Pahat Johor Malaysia Department of Automatic Control and System Engineering University of Sheffield Sheffield UK

FES induced movement control is a significantly challenging area due to complexity and non-linearity of musculo-skeletal system. The goal of this study is to design a cycle-to-cycle control of FES-induced swinging motion. In this approach only the quadriceps muscle is stimulated by controlling the amount of stimulation pulsewidth. This time dependent behaviour is successfully compensated for using a cycle-to cycle fuzzy controller, which computes the amount of knee extension stimulation on the basis of the achieved flexion angle in previous cycles. The capability of fuzzy control in automatic generation of stimulation burst duration is assessed in computer simulations using a musculo-skeletal model. This paper presents the development of a fuzzy logic control scheme based on discrete-time cycle to cycle control strategies without predefined trajectory. The results show the effectiveness of the approach in controlling FES-induced swinging motion.

关键词： Knee Joints Mathematical model Trajectory Computational modeling Muscles Fuzzy logic

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Advanced Active Power Filter to improve power quality

Advanced Active Power Filter to improve power quality

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International Aegean Conference on Electrical Machines and Power Electronics, ACEMP

作者： Gelu Gurguiatu Ciprian Balanuţă Emil Roşu Toader Munteanu Mariana Dumitrescu Elena Raducan Faculty of Automatic Control Computers Electrical and Electronics Engineering Department Automation and Electrical Engineering Dunărea de Jos University of Galai Romania Faculty of Sciences Physics Department Duărea de Jos University of Galati Romania

This paper presents a three-phase Active Power Filter (APF) to improve grid power quality. Starting from indirect control strategy which was used only for three legs - three wires it is proposed in this paper to be used a bridge with three legs - four wire. The new control strategy it was named extended indirect control strategy. The extension consists in passing from the control of a three wire active power filter to the control of a four wire active power filter. The proposed active power filter can compensate the current harmonics and correct the power factor. Moreover, the proposed control strategy allows the line current at the point of common coupling (PCC) to be balanced and sinusoidal even when the load is unbalanced. Consequently the voltage at the PCC becomes balance. Simulation results show the validity of the proposed control strategy.

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Work in progress: MiceNet: Monitoring behaviour of laboratory mice with sensor networks

Work in progress: MiceNet: Monitoring behaviour of laborator...

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International Conference on Distributed Computing in Sensor systems (DCOSS)

作者： Grigore Stamatescu Kay Romer Ralf Ludwig Saleh M. Ibrahim Valentin Sgârciu Faculty of Automatic Control and Computers University Politehnica of Bucharest Bucharest Romania Institute of Computer Engineering University of Lübeck Lubeck Germany Department of Dermatology University of Lübeck Lubeck Germany

Medical research uses laboratory mice for experimental studies. Currently, symptoms are manually observed and recorded, resulting in noisy data - requiring many animals to obtain statistically significant results. We propose the use of a camera sensor network attached to mice cages as a low-cost solution for continuously monitoring mouse behavior and providing remote access to the data for scientists. The benefits of this approach are discussed along with challenges encountered in the initial phases of deployment. The proposed hardware and software architecture is described and early experimentation results are presented.

关键词： Mice Cameras Monitoring Laboratories Image color analysis

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Natural trajectory based FES-induced swinging motion control

Natural trajectory based FES-induced swinging motion control

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International Conference on Mechatronics (ICOM)

作者： B. S. K. K. Ibrahim M. O. Tokhi M. S. Huq S. C. Gharooni Department of Mechatronics and Robotics Faculty of Electrical & Electronic Engineering University of Tun Hussein Onn Batu Pahat Johor Malaysia Department of Automatic Control and System Engineering University of Sheffield Sheffield UK

The use of electrical signals to restore the function of paralyzed muscles is called functional electrical stimulation (FES). FES is a promising method to restore mobility to individuals paralyzed due to spinal cord injury. FES induced movement control is a significantly challenging area, mainly emanating from various characteristics of the underlying physiological/biomechanical system. An approach of fuzzy trajectory tracking control of swinging motion optimized with genetic algorithm is presented. The results show the effectiveness of the approach in controlling FES-induced swinging motion. In this approach only the quadriceps muscle is stimulated to perform the swinging motion by controlling the amount of stimulation pulsewidth.

关键词： Knee Joints Mathematical model Trajectory Genetic algorithms Muscles Optimization

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Explicit constraint control based on interpolation techniques for time-varying and uncertain linear discrete-time systems

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IFAC Proceedings Volumes 2011年第1期44卷 5741-5746页

作者： H.-N. Nguyen P.-O. Gutman S. Olaru M. Hovd SUPELEC Systems Sciences (E3S) – Automatic Control Department Faculty of Civil and Environmental Engineering Technion – Israel Institute of Technology Department of Engineering Cybernetics Norwegian University of Science and Technology

Abstract In this paper we consider the problem of regulating a time-varying and uncertain linear discrete-time system to the origin. It is shown how, by applying an interpolation technique and minimizing an appropriate objective function, one can achieve feasibility and a robustly and asymptotically stable closed-loop behavior. Moreover, we show that the control is a piecewise affine and continuous function of state. A simulation result demonstrates the performance of our approach.

关键词： Vertex control Model predictive control Interpolation Explicit solution Invariant set Linear matrix inequalities

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ORF-MOSAIC for Adaptive control of a Biomimetic Arm

ORF-MOSAIC for Adaptive Control of a Biomimetic Arm

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IEEE International Conference on Robotics and Biomimetics

作者： M. Mahdi Ghazaei A. Henrik Jorntell Rolf Johansson Department of Computer Science Faculty of Engineering Lund University Department of Experimental Medical Sciences Section for Neurophysiology Lund University Department of Automatic Control Faculty of Engineering Lund University

ISBN: (纸本)9781457721366

This study is an attempt to take advantage of a cerebellar model to control a biomimetic arm. The cerebellar controller is a modified MOSAIC model which adaptively controls the arm. We call this model ORF-MOSAIC (Organized by Receptive Fields MOdular Selection And Identification for control). The arm features a musculoskeletal model which is controlled through muscle activations by means of optimization techniques. With as few as 16 modules, we were able to control the arm in a workspace of 30×30 cm. The system was able to adapt to an external field as well as handling new objects despite delays. The discussion section suggests that there are similarities between the microzones in the cerebellum and the modules of this new model.

关键词： Arm spiral arm adaptive control Cerebellum Biomimetics external electric field Workplace Standing Orders Epicoccum

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Securing JPEG architecture based on enhanced chaotic hill cipher algorithm

Securing JPEG architecture based on enhanced chaotic hill ci...

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International Conference on Computer engineering and systems

作者： Ghada Hamissa Amany Sarhan Hatem Abdelkader Mahmoud Fahmy Electrical Engineering Dept. Faculty of Engineering KFS University Kafr-Elsheikh Egypt Information System Department Faculty ofComputer & Information Menoufia University Menoufia Egypt Computer & Automatic Control Department Faculty of Engineering Tanta University Tanta Egypt

In the last two decades, Chaos theory has received a great deal of attention from the cryptographic community. This paper presents two ideas. First idea is using chaotic functions to overcome the weaknesses of the classical Hill cipher. The second idea is proposing a new encoder-decoder architecture, called ChaoEncoDeco, for securing JPEG images. An extra stage of encryption is embedded within the traditional JPEG codec to improve security level of such system. This security stage uses one of the chaotic functions called Logistic Map. This map is used to enhance the Hill cipher and achieve more secure encryption key. The properties of both chaotic system and of the Hill cipher encryption key are all utilized to obtain ultimate secure systems. The proposed encryption algorithm is crypto-analyzed and compared to the standard Hill cipher algorithm. Complete evaluation for the proposed architecture is also performed which indicates the effectiveness of the proposed system.

关键词： Cryptography Image coding Chaos PSNR Transform coding Time measurement Size measurement

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