Sharif Digital Repository

In this paper, an algorithm for positioning error reduction of a low-cost global positioning system (GPS) receiver for kinematical applications has been proposed. Proposed algorithm is mainly based on determining jittered data points (outliers) in the data file based on the correlation among positioning data in three different directions. The main point of applicability of proposed algorithm for kinematical applications is aforementioned correlation. The proposed algorithm and a recursive averaging algorithm has been implemented and tested on the output raw position data collected from a low-cost GPS receiver. Experimental results demonstrate the superior performance of the proposed... 

Positioning for kinematic applications is of great importance in terms of accuracy and computational complexity. In this paper, we present an algorithm based on correlation between error components in three directions, i.e. Δx, Δy, Δz to decrease positioning error of a GPS receiver for kinematic applications. The main feature of proposed algorithm is that it modifies data at each instant and in each direction using data of two other directions at the same instant (i.e. some sort of online modification). This feature was acquired using an approach introduced to model state transition matrix using AR coefficients of two other directions. The algorithm was implemented on the output raw position... 

The axial flux brushless resolver without rotor windings is newly proposed resolver that has the advantages of variable reluctance (VR) resolvers for having no winding on rotor and also, its manufacturing process is much simpler than that of VR resolvers. The influence of different mechanical faults on the position error of the studied resolver is discussed. Different types of eccentricities, inclined rotor and run out error independently and simultaneously are studied using 3D time stepping finite-element method. The results show the maximum position error is related to the resolver under static eccentricity (SE), so an optimised rotor is proposed for the studied resolver to overcome this... 

Variable reluctance (VR) resolvers have some distinguish features over wounded rotor resolvers that make them suitable for industrial applications. Among different types of VR resolvers, sinusoidal-rotor resolvers are preferred due to simple structure and high performance under eccentricities. However, their accuracy is affected by inevitable run-out error. As they work based on sinusoidal variation of coupling area between stator and rotor and under run-out error the coupling area is impaired. Hence, in this study, a new disk shape configuration is proposed for sinusoidal-rotor resolver that is robust against run-out error. Geometrical dimensions are calculated based on optimisations to... 

With the advent of new positioning services, one can reach more satellites these days to find his position. Using a combination of satellites which belong to different constellations needs some considerations like addressing biases between their time references. Each constellation has progressed to the point that they have enough satellites to provide accurate position separately. According to this fact, we propose to find the position in each constellation and fusion their results in a way that final position has the minimum possible variance instead of combining the constellations in a satellite level and dealing with inter system biases. Experimental studies are conducted based on IGS... 

Estimation of 3D human pose from a single image is a challenging task because of ambiguities in projection from 3D space to the 2D image plane. A new two-stage deep convolutional neural network-based method is proposed for regressing the distance and angular difference matrices among body joints. Using the angular difference between body joints in addition to the distance between them in articulated objects such as human body can better model the structure of the shapes and increases the modelling capability of the learning method. Experimental results on HumanEva I and Human3.6M datasets show that the proposed method has substantial improvement in the mean per joint position error measure... 

In this paper, decentralized control algorithms for cooperative multi-agent manipulation systems are developed. To control the positions of the agents and the exerted forces on the object in the presence of uncertainties in the dynamics of the agents, two different methods are considered. In the first approach, robust control of the system is proposed. Using the Lyapunov stability method, the convergence of the position errors to zero is demonstrated. Also a bound on the errors of the exerted forces is achieved which can be made small enough by choosing the appropriate estimated values for the physical parameters of the agents. In the second approach, adaptive control algorithm is proposed... 

Nowadays position sensors are increasingly used in many applications. One of the most commonly used sensors are resolvers. There are different types of resolvers including Wound Rotor (WR) resolvers, Variable Air-gap Length Variable Reluctance (VAGL-VR) resolvers, and Sinusoidal Rotor Variable Reluctance (SR-VR) resolvers. Regardless of the resolvers’ configurations, including linear, cylindrical and disk type, finite element analysis (FEA) is inseparable part of design and performance evaluation of these magnetic sensors. The scope of this study is to discuss challenges in the FEA of resolvers. The influence of mesh quality, time steps, stop time, excitation methods including volt-age... 

Nowadays, position sensors are increasingly used in many applications. One of the most commonly used sensors are resolvers. There are different types of resolvers including wound rotor resolvers, variable air-gap length variable reluctance resolvers, and sinusoidal rotor variable reluctance resolvers. Regardless of the resolvers' configurations, including linear, cylindrical and disk type, finite element analysis (FEA) is inseparable part of design and the performance evaluation of these magnetic sensors. The scope of this study is to discuss challenges in the FEA of resolvers. The influence of mesh quality, time steps, stop time, excitation methods including voltage source and current... 

Finding special periodic orbit in the highly chaotic problems is very complicated. Thus, deriving an effective algorithm for finding such orbits is important. In this paper, the spatial orbits in three-body problems are studied. Then, an algorithm is derived in order to help to find these orbits. This algorithm includes scanning the space, refining better points, and finally, minimizing the position error of the orbit by means of numerical methods  

Sensorless schemes based on HF carrier injection are capable of estimating rotor position in a wide speed range. In these schemes first an additional HF voltage is injected to stator windings. The corresponding HF current is decoupled from main stator currents and the position of the rotor saliency is estimated based on the decoupled HF current in a closed loop tracking observer. The tracking observer is capable of tracking rotor saliency with no steady state error. Transient error appears when the motor starts to move or whenever the rotor speed changes because of any disturbance or any change in the rotor speed command. In this paper a new solution is proposed in order to compensate for... 

This paper proposes a design solution for static eccentricity (SE) in axial flux resolvers (AFRs). There are two definitions for SE in AFRs. The first approach is based on the definition of SE in conventional radial flux resolvers, wherein the rotor axis does not coincide with the stator bore, but the rotor rotates around its own shaft. In other words, it is different in the angular inclination of the rotor and stator axis. Thus, the air gap of the motor is not uniform. In the second approach, which is more common in AFRs, when SE occurs, air-gap length remains uniform. Rotor axis remains parallel with the stator axis, although it does not coincide with the stator bore. This means that there... 

Kinematic and dynamic parameters of robot manipulators are difficult to measure exactly. Also, time varying unknown dynamical parameters of human arm, during interaction with the master robot and unknown parameters of environment during interaction with the slave robot, in teleoperation systems, insert further uncertainties. Furthermore, unknown parameters, unmodeled dynamics of master/slave robots, human arm model and environment introduce more uncertainties. In this paper, a robust adaptive master-slave teleoperation control strategy is introduced which require neither the exact knowledge about the parameters of the master/slave robots, human arm and environment, because of the... 

Multi-turn resolvers are proposed to be used in high accuracy, high-reliability applications that need to have the benefits of absolute measurement and high accuracy, simultaneously. In this paper, the influence of different arrangements of rotary transformer (RT) and resolvers' core on the accuracy of a multi-turn wound rotor (WR) resolver is discussed. Then, an optimal configuration with the aim of reducing the total cost, and the total volume of the sensor is proposed. All the analysis is done using 3-D time-variant finite element method (3-D TVFEM) and the optimal structure is built for experimental tests. Finally, experimental measurements are employed to verify the simulation results....