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Semi-adaptive feedback active control of MRI noise

Semi-adaptive feedback active control of MRI noise

引用

40th International Congress and Exposition on Noise control engineering 2011, INTER-NOISE 2011

作者： Meller, Michal Niedzwiecki, MacIej Tetsu, Hirofumi Kajikawa, Yoshinobu Faculty of Electronics Telecommunications and Computer Science Department of Automatic Control Gdansk University of Technology ul. Narutowicza 11/12 Gdansk Poland Department of Electrical and Electronic Engineering Faculty of Engineering Science Kansai University Suita-shi Osaka 564-8680 Japan

A feedback controller is proposed for cancellation of magnetic resonance imaging (MRI) noise. The design of the controller takes into account specific features of the MRI noise signal. Simulation results show that a c... 详细信息

ISBN: (纸本)9781618392800

关键词： Magnetic resonance imaging

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Multidimensional performance optimization of switched reluctance machines

Multidimensional performance optimization of switched reluct...

引用

XXII International Symposium on Information, Communication and Automation Technologies, ICAT

作者： S. Smaka Š. Mašić M. Ćosović S. Konjicija Department of Power Electrical Engineering Faculty of Electrical Engineering Sarajevo Bosnia and Herzegovina Department of Automatic Control and Electronics Faculty of Electrical Engineering Sarajevo Bosnia and Herzegovina

This paper presents a procedure for optimization of the switched reluctance drive, in order to achieve required torque-speed characteristics. SRM configuration and characteristics are given, and experimental verification of the modeled characteristic is presented. Genetic algorithm (GA) was used for optimization of turn-on angle, turn-off angle and voltage, which represent basic control inputs. The achieved results suggest that the machine's geometry should be optimized as well.

关键词： Torque Reluctance motors Optimization Steady-state Current measurement Rotors

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Reduction of low-resolution incremental encoder usage effects on control performance by using a fuzzy controller

Reduction of low-resolution incremental encoder usage effect...

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XXII International Symposium on Information, Communication and Automation Technologies, ICAT

作者： Alvin Abdagic Adisa Sinanovic Jasmin Velagic Nedim Osmic Department for Automatic Control and Electronics Faculty of Electrical Engineering Sarajevo Sarajevo Bosnia and Herzegovina

Different methods for position control of a DC servomotor are examined. Position is measured with a low-resolution incremental encoder that is a cheap solution that allows for free movement of motor shaft. This kind of measurement affects control and degrades its performance. Entire system is first identified using Matlab System Identification Toolbox. P and PD controllers, along with cascaded and observer-based controllers are synthesised and tested. Sugeno type fuzzy controller with two inputs and constant output membership functions shows the best results of the tested controllers in both simulation and testing done on a real system. Simulation is performed with Matlab Simulink. control system prototyping is done using DS1104 board.

关键词： Transfer functions Shafts PD control Oscillators Servomotors Input variables Permanent magnet motors

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Anthropomimetic robot with passive compliance - Contact dynamics and control

Anthropomimetic robot with passive compliance - Contact dyna...

引用

Mediterranean Conference on control and Automation

作者： Potkonjak, Veljko Svetozarevic, Bratislav Jovanovic, Kosta Holland, Owen Faculty of Electrical Engineering University of Belgrade Bulevar kralja Aleksandra 73 Belgrade Serbia Automatic Control Laboratory Swiss Federal Institute of Technology ETH Physiksrasse 3 8092 Zurich Switzerland School of Informatics University of Sussex Brighton BN1 9QJ United Kingdom

ISBN: (纸本)9781457701252

This paper develops a dynamic model and designs a controller for a fully anthropomorphic, compliantly driven robot. To imitate muscles, the robot's joints are actuated by DC motors antagonistically coupled through tendons. To facilitate safe interaction with humans, the robot exploits passive mechanical compliance, in the form of elastic springs in the tendons. To enable simulation, the paper first derives a mathematical model of the robot's dynamics, starting from the Flier approach. The control of the antagonistic drives uses a biologically inspired puller-and-follower concept where at any instant the puller is responsible for the joint motion while the follower keeps the inactive tendon from slackening. In designing the controller, it was first necessary to use the advanced theory of nonlinear control for dealing with individual joints, and then to apply robust control theory in order to extend control to the multi-joint robot body. © 2011 IEEE.

关键词： Dynamics

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Modeling and control of a compliantly engineered anthropomimetic robot in contact tasks

Modeling and control of a compliantly engineered anthropomim...

引用

ASME 2011 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC/CIE 2011

作者： Potkonjak, Veljko Jovanovic, Kosta Svetozarevic, Bratislav Holland, Owen Mikicic, Dusan Faculty of Electrical Engineering University of Belgrade Bulevar kralja Aleksandra 73 11000 Belgrade Serbia Automatic Control Laboratory Swiss Federal Institute of Technology-ETH Physiksrasse 3 8092 Zurich Switzerland School of Informatics University of Sussex Brighton BN1 9 QJ Falmer United Kingdom

ISBN: (纸本)9780791854839

This paper attempts to develop a dynamic model and design a controller for a fully anthropomorphic, compliantly driven robot. To imitate muscles, the robot's joints are actuated by DC motors antagonistically coupled through tendons. To ensure safe interaction with humans in a human-centered environment, the robot exploits passive mechanical compliance, in the form of elastic springs in the tendons. To enable simulation, the paper first derives a mathematical model of the robot's dynamics, starting from the "Flier" approach. The control of the antagonistic drives is based on a biologically inspired puller-and-follower concept where at any instant the puller is responsible for the joint motion while the follower keeps the inactive tendon from slackening. In designing the controller, it was first necessary to use the advanced theory of nonlinear control for dealing with individual joints, and then to apply the theory of robustness in order to extend control to the multi-jointed robot body. Copyright © 2011 by ASME.

关键词： controllers

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Path finding simulator for mobile robot navigation

Path finding simulator for mobile robot navigation

引用

XXII International Symposium on Information, Communication and Automation Technologies, ICAT

作者： Tarik Terzimehic Semir Silajdzic Vedran Vajnberger Jasmin Velagic Nedim Osmic Department of Automatic Control and Electronics Faculty of Electrical Engineering University of Sarajevo Sarajevo Bosnia and Herzegovina

This work considers the whole process of making a path finding simulator for Pioneer 3DX mobile robot. This simulator needs to be provided implementation of various optimal path finding algorithms and make their comparisons. For this purpose a software solution (GUI in Matlab) has been designed and tested. The simulator allows selecting mazes, different starting and finishing nodes and algorithms. Five different algorithms were used to determine the shortest path between nodes for a mobile robot within various mazes: Breadth-first search, Depth-first search, Bellman-Ford algorithm, Dijkstra's algorithm and A* algorithm. The main objective of this paper was to obtain fully and precise information on routing and finding the shortest path between two nodes within a maze for the mobile robot. Validity and effectiveness of the used algorithms were verified through both simulations and experiments.

关键词： Algorithm design and analysis Mobile robots Software algorithms Software Graphical user interfaces Robot sensing systems

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Intelligent diagnostics of devices with the use of infrared mapping images

Intelligent diagnostics of devices with the use of infrared ...

引用

International Students Conference on Electrodynamics and Mechatronics (SCE III)

作者： R. Gasz Faculty of Electrical Engineering Automatic Control and Computer Science Opole University of Technology Opole Poland

A correct diagnostics together with the early prediction of failure or malfunction of the system are the major issues in modern maintenance. Nowadays, the time-honored diagnostics may be inadequate and lead to omitting failures, resulting in higher costs of repairing damaged equipment. That is why the interest in intelligent diagnostics increases due to the possibility of better interpretation of the component status and early failure prediction. One of the ways of determining the device condition is to measure and analyze the temperature of multiple points on the device. Thermographics may show a beginning of significant wear of a component, and enable a repair or replacing before the failure appears. The paper presents the key aspects of the diagnostics with thermal images, including: technology mapping, mapping algorithms, together with a presentation of available software solutions.

关键词： Maintenance engineering Buildings Interpolation Temperature measurement Imaging Computational modeling Electrodynamics

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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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Stability issues in discretization of wave equation

Stability issues in discretization of wave equation

引用

International Conference on Systems, Signals and Image Processing, IWSSIP

作者： Emir Sokic Samim Konjicija Melita Ahic-Djokic Almir Salihbegovic Department for Automatic Control and Electronics Faculty of Electrical Engineering University of Sarajevo Sarajevo Bosnia and Herzegovina

This paper discusses some of the interesting properties of stability analysis of a discretized wave equation. The solutions of the wave equation are wave functions, hence oscillating, so when testing stability the discretization scheme usually shows marginal stability. Marginal stability is a sufficient condition for a discrete scheme convergence and many authors don't bother with mathematical consistency. However, inadequatly chosen discretization method may lead to the additional unwanted oscillations. This paper illustrates this effect in a different approach. First, the wave equation is introduced together with a Perfectly matched layer (PML). Then the 1D wave equation is discretized by using Finite Differences Method (FDM) and Finite-differences Time-domain method (FDTD). It is shown that the latter method does not produce spurious oscillations in the solution. Eigenvalue analysis is done to explain this effect and discuss stability of the numerical scheme.

关键词： Equations Propagation Finite difference methods Numerical stability Stability criteria Mathematical model

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New reactive power control concept for converter based renewable energy sources

New reactive power control concept for converter based renew...

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Mediterranean Conference on control and Automation (MED)

作者： S. Huseinbegovic B. Perunicic Faculty of Electrical Engineering Department of Automatic Control and Electronics University of Sarajevo Sarajevo Bosnia and Herzegovina

The paper presents a new approach to control of the reactive power supply from renewable energy sources to the grid. The aims of control algorithm are: maximal power extraction from the wind or solar power and its injection into the power grid and the control of reactive power supplied to the grid. The value of reactive power is controlled by magnitude of internal voltage E and phase angle δ between internal E and external V voltages vectors. The needed magnitude E and phase angle δ are calculated from the measured values of the supplied active power P g and the desired supply of the reactive power Q g_ref . These expressions are obtained by comparing mathematical models of the power converter and the synchronous generator. This concept was implemented on the abc stationary reference frame and its effectiveness was demonstrated on a simulation model of the power converter connected to an infinite bus.

关键词： Reactive power Synchronous generators Mathematical model Power conversion Equations

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