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International Conference on Computer Modeling and Simulation, UKSIM

作者： Rozita Jailani M. Osman Tokhi Zakaria Hussain Department of Automatic Control and System Engineering University of Sheffield UK Faculty of Electrical Engineering Universiti Teknologi MARA Shah Alam Malaysia

ISBN: (纸本)9781424466146;9780769540160

This paper describes the development of a fuzzy control scheme for functional electrical stimulation, (FES)-assisted paraplegic walking with wheel walker. The simulation in this study starts with a model of humanoid with wheel walker using the Visual Nastran (Vn4D) dynamic simulation software. The humanoid model is designed based on anthropometric data. Two stimulated muscle models, quadriceps and hamstrings, are developed for knee extension and flexion. A fuzzy logic controller is designed to control the walking gait. It is designed in Matlab/Simulink to regulate the muscle stimulation pulse width required to drive FES-assisted walking gait. The body weight transfer technique is introduced to improve the paraplegic walking performance. The results show that body weight transfer can reduce torque required for FES-assisted paraplegic walking with wheel walker.

关键词： Legged locomotion Wheels Biological system modeling Mathematical model Muscles Fuzzy control Neuromuscular stimulation Knee Fuzzy logic Space vector pulse width modulation

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Design of variable gain super-twisting observer for nonlinear systems with sampled output

Design of variable gain super-twisting observer for nonlinea...

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International Conference on Electrical engineering Computing Science and automatic control

作者： Saigado, I. Moreno, J. Fridman, L. Poznyak, A. Chairez, I. Faculty of Engineering National Autonomous University of Mexico México City Mexico Department of Automatic Control CINVESTAV-IPN México City Mexico Department of Bioprocesses Professional Interdisciplinary Unit of Biotechnology IPN Mexico City Mexico

ISBN: (纸本)9781424473120

Most of state observers implemented in real systems are not able to measure the information continuously. The sliding observers are not an exception. Nevertheless, when state observers are used in numerical applications or even in real systems, one must implement a sampled based observer. This means that the output was obtained by means of a Analogical/Digital Converter. Using a zero order hold we can maintain the data until the next measure. In this form the output implemented in the algorithm is continuous. In this paper, a novel variable-gain super-twisting observer is proposed based on Lyapunov theory. That is, the correction terms varies during the time. This variable gain depends on the error trajectories and known functions that are upper bounds for the disturbances that affect the system. The observer ensures finite time convergence into a boundary layer depending of the sampled period. This structure is applied in a simple pendulum model using several sample periods of time. © 2010 IEEE.

关键词： Boundary layers

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Design of 3D simulator for 2DOF helicopter model control

Design of 3D simulator for 2DOF helicopter model control

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International Symposium on Electronics in Marine (ELMAR)

作者： Jasmin Velagic Nedim Osmic Emir Zunic Tarik Uzunovic Admir Badnjevic Department of Automatic Control and Electronics Faculty of Electrical Engineering University of Sarajevo Sarajevo Bosnia and Herzegovina

The paper presents a design of 3D simulator for 2DOF laboratory helicopter model (Humusoft CE 150) and its practical implementation in various control system structures. The developed simulator provides testing performance of different control algorithms and visualization of results obtained. The 3D simulator has been designed and developed using the VRML programming language under the Virtual Reality toolbox in Matlab/Simulink. The effectiveness of this simulator are demonstrated during simulation and experiments on the 2DOF helicopter model using different control techniques, such as PID, adaptive gain scheduling and fuzzy controllers. Some of them have been designed in this paper.

关键词： Solid modeling Helicopters Mathematical model Azimuth Adaptation model Three dimensional displays control systems

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Neural networks for helicopter azimuth and elevation angles control obtained by cloning processes

Neural networks for helicopter azimuth and elevation angles ...

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IEEE International Conference on systems, Man and Cybernetics

作者： Tarik Uzunovic Jasmin Velagic Nedim Osmic Almir Badnjevic Emir Zunic Department of Automatic Control and Electronics Faculty of Electrical Engineering University of Sarajevo Sarajevo Bosnia and Herzegovina

Neural networks have been applied very successfully in the identification and control of nonlinear dynamic systems. The paper presents a design of neural network based control system for 2DOF nonlinear laboratory helicopter model (Humusoft CE 150). The main objective of this paper is to develop artificial neural networks to control helicopter's motors, or consequently elevation and azimuth angles. Neural networks are obtained by cloning various type of controllers designed in our previous papers. Those procedures included a cloning linear PID controller, gain scheduling controller and fuzzy controller.

关键词： Neurons Artificial neural networks Computer languages Process control computers Mathematical model

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Incubator system identification and temperature control with PLC & HMI

Incubator system identification and temperature control with...

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International Symposium on Electronics in Marine (ELMAR)

作者： Jasmin Velagic Nedim Osmic Kemal Lutvica Nihad Kadic Department of Automatic Control and Electronics Faculty of Electrical Engineering University of Sarajevo Sarajevo Bosnia and Herzegovina

This paper deals with a design and implementation of an incubator temperature control system. This system is composed of the incubator, a PLC-based PID controller, HMI (human-machine interface), DC dimmer as actuator and an NTC temperature sensor. A mathematical model of the incubator system with appropriate sensor and drives is derived through identification process based on step responses. Its model is implemented in Simulink program package. The parameters of the PID controller have been adjusted by using a self-tuning toolbox under Matlab/Simulink. The whole control system is realized in both simulation and experimental modes. The robustness and effectiveness of the proposed control system are demonstrated through comparison of simulation and experimental results.

关键词： Mathematical model Heating Temperature measurement Cooling Actuators

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Counting traffic using optical flow algorithm on video footage of a complex crossroad

Counting traffic using optical flow algorithm on video foota...

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International Symposium on Electronics in Marine (ELMAR)

作者： Alvin Abdagic Omer Tanovic Abdulah Aksamovic Senad Huseinbegovic Department for Automatic Control and Electronics Faculty of Electrical Engineering University of Sarajevo Sarajevo Bosnia and Herzegovina

A practical solution for counting traffic is analysed in this paper. The goal was to develop a solution that focuses on more CPU processing than on placing many complex sensors. This approach should reduce costs of both deployment and maintenance of such system. The proposed solution is to use video footage from a properly placed camera as input data. Vehicle movement is detected using optical flow algorithm. A great deal of post-processing is used to cope with problems that arise from this method of movement detection. Since the video of the entire crossroad is available, it is possible to fully analyse vehicle movement and produce turning movement counts and efficiently estimate (time varying) origin-destination trip tables if enough crossroads are monitored this way. The solution was developed in Simulink using Video and Image Processing Toolbox and custom blocks.

关键词： Vehicles Cameras Turning Optical imaging Pixel Optical sensors Feeds

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Development of a distributed elevator control system based on the microcontroller PIC 18F458

Development of a distributed elevator control system based o...

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IEEE Region 8 International Conference on Computational Technologies in Electrical and Electronics engineering, SIBIRCON

作者： S. Huseinbegovic S. Kreso O. Tanovic Faculty of Electrical Engineering Department of Automatic Control and Electronics University of Sarajevo Sarajevo Bosnia and Herzegovina

This paper presents the distributed control system for elevators (DECS). Based on the characteristics of the today installed elevator systems, the electric traction elevator has been chosen for this paper. Conventional elevator control systems (ECS) have several disadvantages compared to modern control systems (large number of cables, safety issues, etc.). An alternative to conventional ECS is the DECS. A DECS based on the CAN (controller Area Network) protocol is presented in this paper. The presented ECS consists of three modules: CU Elevator (CU - control Unit), CU Cabin, CU Floor. The mentioned modules, control principles and implementation methods based on the PIC 18F458 microcontroller are presented in detail. A description of the CAN protocol design with message scheduling on the bus is given. Messages with an 11 bit identifier without a data field have been used for the distributed control system synthesis. The time analysis of bus availability/traffic demonstrates the adequacy of the distributed control system Based on the defined messages and 5 presented modes of operation, an algorithm of operation has been formed for every control system module. Finally experimental results are presented that have been obtained from a developed CAN based elevator control system. The conducted tests have confirmed the functionality of the elevator control system.

关键词： Elevators Copper Floors Availability Hardware Microcontrollers

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Development of Dynamic Muscle Model with Functional Electrical Stimulation

Development of Dynamic Muscle Model with Functional Electric...

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Complexity in engineering (COMPENG)

作者： R. Jailani M.O. Tokhi S. Gharooni Z. Hussain Department of Automatic Control and System Engineering University of Sheffield UK Faculty of Electrical Engineering Universiti Teknologi MARA Shah Alam Selangor Darul Ehsan Malaysia

ISBN: (纸本)9781424459827;9780769539744

This paper presents the development of paraplegic muscle model with Adaptive Neuro-Fuzzy Inference system (ANFIS). A series of experiments using Functional Electrical Stimulation (FES) with different stimulation frequencies, pulse width and pulse duration to investigate the impact on muscle output torque are conducted. The data that is obtained is used to develop the paraplegic muscle model. 500 training data and 300 testing data set are used in the development of muscle model. The muscle model thus developed is validated with clinical data from one paraplegic subject and in comparison with two other muscle models from previous researchers. The ANFIS muscle model is found to be the most accurate muscle model representing paraplegic muscle model. The established model is then used to predict the behaviour of the underlying system and will be used in the future for the design and evaluation of various control strategies.

关键词： Muscles Neuromuscular stimulation Mathematical model Space vector pulse width modulation Chemical elements Thigh Frequency Torque Training data Fatigue

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Constrained Infinite-Horizon Model Predictive control for Fuzzy-Discrete-Time systems

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IEEE Transactions on Fuzzy systems 2010年第2期18卷 429-436页

作者： Yuanqing Xia Hongjiu Yang Peng Shi Mengyin Fu Department of Automatic Control Beijing Institute of Technology Beijing China School of Engineering and Science Victoria University Melbourne VIC Australia Faculty of Advanced Technology University of Glamorgan Pontypridd UK

The problem of constrained infinite-horizon model-predictive control for fuzzy-discrete systems is considered in this paper. New sufficient conditions are proposed in terms of linear-matrix inequalities. Based on the optimal solutions of these sufficient conditions at each sampling instant, we design both parallel-distributed compensation and nonparallel-distributed compensation state-feedback controllers, which can guarantee that the resulting closed-loop fuzzy-discrete system is asymptotically stable. In addition, the fuzzy-feedback controllers meet the specifications for the fuzzy-discrete systems with both input and output constraints. Numerical examples are presented to demonstrate the effectiveness of the proposed techniques.

关键词： Predictive models Predictive control Fuzzy control Sufficient conditions Linear matrix inequalities Sampling methods Optimal control control systems Fuzzy systems Nonlinear systems

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Adaptive identification of fuzzy cognitive networks

Adaptive identification of fuzzy cognitive networks

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4th International Symposium on Communications, control, and Signal Processing, ISCCSP-2010

作者： Psillakis, Haris E. Boutalis, Yannis Giotis, Thomas Christodoulou, Manolis A. Department of Electrical Engineering Technological and Educational Institute of Crete Heraklion Greece Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece University of Erlangen-Nurember Department of Automatic Control Germany Department of Electronic and Computer Engineering Technical University of Crete Chania Crete 73100 Greece Faculty of Electronic and Computer Engineering Technical University of Crete Chania Crete 73100 Greece Dipartimento di Automatica et Informatica Politecnico di Torino 10129 Torino Italy

ISBN: (纸本)9781424462858

An adaptive methodology is introduced to identify the weights of a general Fuzzy Cognitive Network (FCN). The proposed scheme consists of two hierarchically structured individual identification tasks that are both implemented on-line. The inner task employs a robust integral of the sign error (RISE) observer to approximate the system's unknown nonlinearity. At the higher level, a nonlinear mapping of the observer's output provides an estimation of the linear parametrization of the FCN weights. Exploiting this fact, a standard gradient-based algorithm is proposed as an outer identification task to estimate the FCN weights under a persistence of excitation condition. Simulation results illustrate the effectiveness of the proposed approach. ©2010 IEEE.

关键词： Fuzzy logic

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