Sharif Digital Repository

Power augmentation is known to be one of the important applications of Exoskeletons. This paper designs a control strategy to reduce the energy consumed by users in power augmentation mode. The strategy aims to calculate and apply the interaction force between humans and robots according to human intentions. To realize human intentions, the movement's kinematic characteristics and the user's muscular activity were used. The movement patterns were learned by the robot using a set of adaptive oscillators. The human movement pattern in each movement cycle was considered the basis for predicting human intention in the next cycle. Thereby, the robot's optimal path and interaction torque were... 

This paper proposes a novel method for detection and isolation of wastegate (WG) faults in a turbocharged (TC) gasoline engine. This paper starts with a fault effect analysis on the WG faults, including WG stuck open and stuck closed, which is an early step in a detection strategy design. Then, a second-order sliding-mode observer (SOSMO) is proposed to capture the exhaust manifold dynamics. The observer uses experimentally validated engine models to estimate the WG position and a virtual force. The virtual force represents the external disturbances that disrupt the WG operation and enables the proposed SOSMO to estimate the WG position robust to the faults. Using this force, a detection and... 

A wide range of applications in engineering and scientific computing are based on the sparse matrix computation. There exist a variety of data representations to keep the non-zero elements in sparse matrices, and each representation favors some matrices while not working well for some others. The existing studies tend to process all types of applications, e.g., the most popular application which is matrix–vector multiplication, with different sparse matrix structures using a fixed representation. While Graphics Processing Units (GPUs) have evolved into a very attractive platform for general purpose computations, most of the existing works on sparse matrix–vector multiplication (SpMV, for... 

Design and implementation of Architecture is a knowledge-driven process. Evaluation and verification the knowledge, in order to ensure its quality, have important role in improving overall design process. Furthermore, Architectural decision making is a complex and multi-criteria decision making problem in which multiple stakeholders make decisions from their perspectives causing overlaps and conflicts in the adopted decisions. Therefore, the requirement for strategies to manage these issues and also to improve coordination and cooperation among the various stakeholders to improve the overall process design is necessary. In this regard, there have been several activities that focus on... 

A wide range of applications in engineering and scientific computing are based on the sparse matrix computation. There exist a variety of data representations to keep the non-zero elements in sparse matrices, and each representation favors some matrices while not working well for some others. The existing studies tend to process all types of applications, e.g., the most popular application which is matrix–vector multiplication, with different sparse matrix structures using a fixed representation. While Graphics Processing Units (GPUs) have evolved into a very attractive platform for general purpose computations, most of the existing works on sparse matrix–vector multiplication (SpMV, for... 

This paper deals with a fractional calculus based control strategy for chaos suppression in the 3D chaotic systems. It is assumed that the structure of the controlled chaotic system has only one control input. In the proposed strategy, the controller has three tuneable parameters and the control input is constructed as fractional-order integration of a linear combination of linearized model states. The tuning procedure is based on the stability theorems in the incommensurate fractional-order systems. To evaluate the performance of the proposed controller, the design method is applied to suppress chaotic oscillations in a 3D chaotic oscillator and in the Chen chaotic system. © 2008 Springer... 

Application of Fractional Order PID (FOPID) controller to an Automatic Voltage Regulator (AVR) is presented and studied in this paper. An FOPID is a PID whose derivative and integral orders are fractional numbers rather than integers. Design stage of such a controller consists of determining five parameters. This paper employs Particle Swarm Optimization (PSO) algorithm to carry out the aforementioned design procedure. A novel cost function is defined to facilitate the control strategy over both the time-domain and the frequencydomain specifications. Comparisons are made with a PID controller from standpoints of transient response, robustness and disturbance rejection characteristics. It is... 

Application of fractional order PID (FOPID) controller to an automatic voltage regulator (AVR) is presented and studied in this paper. An FOPID is a PID whose derivative and integral orders are fractional numbers rather than integers. Design stage of such a controller consists of determining five parameters. This paper employs particle swarm optimization (PSO) algorithm to carry out the aforementioned design procedure. PSO is an advanced search procedure that has proved to have very high efficiency. A novel cost function is defined to facilitate the control strategy over both the time-domain and the frequency-domain specifications. Comparisons are made with a PID controller and it is shown...