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31st International Conference on Electrical Engineering, ICEE 2023

作者： Samari, Behrad Yazdanpanah, Mohammad Javad University of Tehran Department of Electrical Engineering Tehran Iran School of Ece University of Tehran Control & Intelligent Processing Center of Excellence Tehran Iran

ISBN: (纸本)9798350312560

This article addresses the load frequency control (LFC) problem of control-area-partitioned power networks. An equivalent generator with second-order turbine-governor dynamics is utilized to model each control area, and power flows establish nonlinear couplings between control areas. As a consequence of the integration of the proportional-integral (PI) controller and the nonlinear controller, a novel suitable sliding manifold for enhancing dynamic performance is first proposed. Then, a decentralized second-order sliding mode (SOSM) controller is designed for LFC in power networks, which regulates the frequency and sustains the net inter-area power flows at the predetermined values. The simulation results demonstrate the efficacy of the proposed control strategy. © 2023 IEEE.

关键词： Decentralized control

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Second-Order Sliding Mode Design Based on the Integration of Proportional-Integral and Nonlinear controllers for Load Frequency control

Second-Order Sliding Mode Design Based on the Integration of...

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Iranian Conference on Electrical Engineering (ICEE)

作者： Behrad Samari Mohammad Javad Yazdanpanah Department of Electrical Engineering University of Tehran Tehran Iran Control & Intelligent Processing Center of Excellence School of ECE University of Tehran Tehran Iran

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How far are Pneumatic Artificial Muscles from biological muscles?

How far are Pneumatic Artificial Muscles from biological mus...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Omid Mohseni Ferréol Gagey Gouping Zhao Andre Seyfarth Maziar A. Sharbafi School of ECE Control and Intelligent Processing Center of Excellence (CIPCE) College of Engineering University of Tehran Tehran Iran Ferréol Gagey is with École normale supérieure Paris-Saclay Lauflabor Locomotion Lab Centre for Cognitive Science TU Darmstadt Germany

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

There is a long history demonstrating humans' tendency to create artificial copies of living creatures. For moving machines called robots, actuators play a key role in developing human-like movements. Among different types of actuation, PAMs (pneumatic artificial muscles) are known as the most similar ones to biological muscles. In addition to similarities in force generation mechanism (tension based), the well-accepted argumentation from Klute et al., states that the PAM force-length (f l ) behavior is close to biological muscles, while the force-velocity (f v ) pattern is different. Using the multiplicative formulation of the pressure (as an activation term), f l and f v beside an additive passive parallel elastic element, we present a new model of PAM. This muscle-based model can predict PAM dynamic behaviors with high precision. With a second experiment on a two-segmented leg, the proposed model is verified to predict the generated forces of PAMs in an antagonistic arrangement. Such a dynamic muscle-like model of artificial muscles can be used for the design and control of legged robots to generate robust, efficient and versatile gaits.

关键词： Muscles Mathematical model Force Biological system modeling Robots Dynamics

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On the variability of chaos indices in sleep EEG signals

arXiv

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arXiv 2018年

作者： Dehkordi, Amin Banitalebi Hossein-Zadeh, Gholam-Ali Control and Intelligent Processing Centre of Excellence School of ECE College of Engineering University of Tehran

Previous researches revealed the chaotic and nonlinear nature of EEG signal. In this paper we inspected the variability of chaotic indices of the sleep EEG signal such as largest Lyapunov exponent, mutual information, correlation dimension and minimum embedding dimension among different subjects, conditions and sleep stages. Empirical histograms of these indices are obtained from sleep EEG of 31 subjects, showing that, with a good accuracy, these indices in each stage of sleep vary from healthy human subjects to subjects suspected to have sleep-disordered breathing. Copyright © 2018, The Authors. All rights reserved.

关键词： Lyapunov methods

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Equilibratability of control Systems

Equilibratability of Control Systems

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Iranian Conference on Electrical Engineering

作者： Ehsan Ghezelbash Mohammad Javad Yazdanpanah Abolfazl Yaghmaei School of ECE University of Tehran Tehran I. R. Iran Control & Intelligent Processing Center of Excellence University of Tehran Tehran I. R. Iran

In this paper, the problem of moving the equilibrium point of a control system to a desired point or desired space is considered. At the first stage of problem definition, the concept of equilibratability is introduced for the general class of nonlinear systems. Then, necessary and sufficient conditions for equilibratability of linear lime-invariant (LTI) systems are investigated for continuous and discrete time scenarios. Next, the problem of input selection based on equilibratability is proposed and investigated. When the input matrix is fixed and the system is not equilibratable at the desired point, an optimization problem is presented to select the nearest equilibratable point. Furthermore, when - instead of equilibrium point - an equilibrium space is sought, two supplementary optimization problems are put forward.

关键词： Equilibratability Input selection Sparse solution Zero optimization Equilibrium point modification

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Toward Aerial Simultaneous Target Localization and Obstacle Estimation using RSSI observations

Toward Aerial Simultaneous Target Localization and Obstacle ...

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RSI/ISM International Conference on Robotics and Mechatronics

作者： S.M. Mehdi Dehghan Saeid Haidari Hadi Mordi Control and Intelligent Processing Center of Excellence School of ECE University of Tehran Malek Ashtar University of Technology Aerospace Research Complexity Tehran Iran Advaced Robotic and Intelligent System Lab School of ECE University of Tehran Tehran Iran Control and Intelligent Processing Center of Excellence School of ECE University of Tehran Tehran Iran Intelligent Systems Research Institute SKKU South Korea

ISBN: (纸本)9781467372350

This paper represents simultaneous estimation of an RF source location and the location and height of an obstacle between the RF source and a UAV using RSSI observations. The aim is to improve the localization of the RF source by estimating the location and height of the obstacle. The effect of the obstacle on signal strength attenuation, i.e. the diffraction loss, is the most important reason that affects the performance of distance estimation based on general or empirical path loss model. Consequently, by estimating the effect of obstacle on attenuation, it will be possible to improve the accuracy of distance estimation according to path loss models. The simultaneous estimation of radio source location and the specification of an existing obstacle are implemented using particle filter, due to the complexity and nonlinear nature of the equations related to the calculation of diffraction loss. The simulation results show an improved performance of suggested filter, compared to the basic case of not estimating the obstacle.

关键词： UA V RF source localization NLOS obstacle mapping signal diffraction

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A Low-Cost Vision-Based System for Displacement Analysis in Earthquake Research

A Low-Cost Vision-Based System for Displacement Analysis in ...

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RSI/ISM International Conference on Robotics and Mechatronics

作者： Bijan Binaee Mahyar Khayatkhoei Hadi Moradi Amirhossein Nazemi Abdollah Hosseini Control and Intelligent Processing Center Advanced Robotics and Intelligent Systems Lab School of ECE University of Tehran Intelligent Systems Research Institute SKKU South Korea School of Civil Engineeringg College of Engineering University of Tehran

ISBN: (纸本)9781467372350

Measuring linear and angular displacement with high accuracy requires expensive equipment and may interfere with the measurements due to sensors weight and size. In this paper, we propose a low cost vision based approach for measuring linear & angular displacement that can make the earthquake research more *** keep detecting process as fast as possible and meet real-time demands, a typical marker with a peculiar color inside chooses and all instructions performed by Intel CVLib filters. So according to the tests, if the minimum requirement are met, the proposed method can detect marker up to 25 frames per second. Finally, a prototype software implemented to analysis functionality and accuracy of proposed algorithm. The results shown that this vision-based method can achieve accuracy of 0.1mm, with an off-the-shelf three pixel per millimeter, and it can be perfectly used instead of traditional instruments such as LVDT.

关键词： Rotoray-displacement tracking displacement tracking LVDT instrumentation shaking table seismology image processing

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Comparing effects of rigid, flexible, and actuated series-elastic spines on bounding gait of quadruped robots

Comparing effects of rigid, flexible, and actuated series-el...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Mohammad Hasan H. Kani Majid Nili Ahmadabadi Control and Intelligent Processing Center of Excellence Cognitive Robotics Laboratory School of ECE College of Engineering University of Tehran Tehran Iran

Spinal actuation is necessary for quadruped robots to achieve rapid leg locomotion. In this paper, effect of flexible spinal actuation on the bounding gait is investigated. By defining a performance criterion for the bounding gait, a quadruped robot (Ghostdog) is tested in four different case studies; namely rigid spine, flexible passive spine, actuated spine, and series elastic actuated spine. We show that the robot with a series elastic actuator in its spinal joint has the best performance criterion and is the best robot in terms of bounding power consumption. On the other hand, it is shown that by using spinal actuation not only the speed of locomotion increases considerably, but also the pattern of bounding becomes more similar to real fast felines.

关键词： Robots Oscillators Equations Hip

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Detection of natural gas pipeline defects using magnetic flux leakage measurements

Detection of natural gas pipeline defects using magnetic flu...

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Iranian Conference on Electrical Engineering (ICEE)

作者： Mojtaba Rostami Kandroodi Babak Nadjar Araabi Majid Nili Ahmadabadi Farshad Shirani Maisam Mansoob Bassiri Control and Intelligent Processing Center of Excellence School of ECE College of Engineering University of Tehran Iran Segal Pardazesh Engineering Company Tehran Iran

Magnetic Flux Leakage (MFL) testing is the most widely used non-destructive techniques for the in-service inspection of oil and gas pipelines. This study presents novel approaches to detect defects by employing MFL signals. Estimating the number of defects, locations, and orientations from measurements is a typical inverse problem in electromagnetic non-destructive evaluations (NDE). A detection algorithm on axial flux is proposed for defect detection based on image processing approaches and morphological methods. Finally, the efficacy and accuracy of the proposed algorithm is validated through examinations on simulated defects and real experimental MFL data. Simulated defects are generated in presence of multiple uncertainties and noises; including the variation of the pipeline thickness, sensors liftoff, magnetization level, and shape irregularity.

关键词： Pipelines Inspection Magnetic sensors Shape Magnetic flux leakage Educational institutions

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Defect detection and width estimation in natural gas pipelines using MFL signals

Defect detection and width estimation in natural gas pipelin...

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Asian control Conference

作者： Mojtaba Rostami Kandroodi Farshad Shirani Babak Nadjar Araabi Majid Nili Ahmadabadi Maisam Mansoob Bassiri Control and Intelligent Processing Center of Excellence School of ECE College of Engineering University of Tehran Iran Segal Pardazesh Engineering Company Tehran Iran

ISBN: (纸本)9781467357661

Magnetic Flux Leakage (MFL) testing is the most widely used non-destructive techniques for the in-service inspection of oil and gas pipelines. In this study, a novel approach for detecting and estimating the width of defects by employing MFL signals is presented. Estimating the locations of defects and profiles of lengths, widths, and depths of defects from measurements is a typical inverse problem in electromagnetic non-destructive testing. In this study, defect parameters are estimated in two separate consecutive steps. In the first step, a detection algorithm based on image processing approaches is applied on axial flux to estimate the numbers of defects, locations, and orientations of defects. Then, to estimate widths of defects, an inversion procedure based on 2D signal processing is applied on radial flux corresponding to areas detected in previous step. Finally, the efficacy and accuracy of the proposed algorithm is validated through examinations on simulated defects and real experimental MFL data. Simulated defects are generated in presence of multiple uncertainties and noises.

关键词： Pipelines Estimation Inspection Magnetic sensors Shape Accuracy

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