Sharif Digital Repository

The Hough transform is known to be an effective technique for target detection and track initiation in search radars. However, most papers have focused on the simplistic applications of this technique which consider a 2-D data space for the Hough transform. In this paper, a new method based on xthe Hough transform is introduced for detecting targets in a 3-D data space. The data space is constructed from returned surveillance radar signal using the range and bearing information of several successive scans. This information is mapped into a 3-D x-y-t Cartesian data space. Targets are modeled with four parameters in this data space. The proposed 3-D Hough detector is then used to detect the... 

An efficient method to automatically recognize basic human actions is proposed to improve the communication between a human and a computer. Human actions are considered as patterns generated by complex non-linear dynamical models. A non-linear dynamical model is used to represent human actions. Gaussian process dynamical models are used to capture the spatial and temporal behaviors of actions. To make the process more efficient a 7-dimensional feature is extracted for each action. Although the extracted feature vector is compact compared to a high-dimensional temporal pattern, it can efficiently discriminate among different actions. The tests run on CMU MoCap database with SVM show promising... 

The purpose of the paper presented here is to deal with the well-known linear generalized predictive control (LGPC) scheme based on multiple models strategy for a tubular heat exchanger system. In this control strategy, the operating environments of the system are first represented by multiple explicit linear models. Then the best model of the system is precisely identified by a novel intelligent decision mechanism (IDM), where is organized in association with the fuzzy adaptive Kalman filter and recursive weight generator approaches. As soon as the best model of the system is identified, the corresponding predictive control action is instantly implemented on the system. In order to... 

A novel high-level fault model to accelerate test process of on-chip communication structures for SoCs is proposed. To this end, bus components are modeled using a simple, yet efficient, graph-based technique and all possible faults on the graph nodes are probed. The proposed method is optimized in terms of test time. The method applies the same test process to all interconnects and components. Compared to the conventional stuck-at fault testing methods, our extensive simulations on the AMBA-AHB bus architecture reveal that our test method can help in achieving a significant test speed improvement  

In recent years, design and tuning of fractional-order controllers for use in motion control have attracted much attention. This paper deals with one of the interesting methods that have been recently proposed for tuning fractional-order proportional and derivative (FOPD) motion controllers. The FOPD controller tuned based on the considered method results in simultaneously meeting the desired phase margin, the desired gain crossover frequency, and the flatness of the phase Bode plot at such a frequency. Since, in this tuning method, the derivative parameter and order are determined in a graphical way, in the first view, it is not clear for which pairs of phase margin and gain crossover... 

The authors consider the problem of broadcast-relay-networks with two cooperative relays. There are a transmitter, two relays and two receivers in the network. The message of the transmitter intended to the receivers has common and private parts. The relays fully cooperate with each other and with the transmitter to send the common part of the message, whereas the private parts of the message are sent through the direct links between the transmitter and receivers. The authors found an achievable rate region for this network by using the symmetric relaying strategy. In this strategy, each relay completely decodes the message of other relay. In the proof the authors took advantage of regular... 

This paper considers a many-to-one Gaussian interference channel with a fusion centre (FC) where there is a K -user interference channel in which only one relay (receiver) faces interference while the remaining K-1 receivers are interference free. All the relays communicate information about their observed sequence to the FC through noiseless links at communication rate R0. First, by analysing traditional relaying schemes, i.e., Decode and Forward, Compress and Forward and Compute and Forward, three rate-regions for this setting are derived. Then, based on nested lattice codes, a new achievable rate-region is provided. Based on the proposed scheme, one can design a transmission scheme that... 

Some of the most important classes of watermark detection methods in image watermarking are correlation-based algorithms. In these methods usually a pseudorandom noise pattern is embedded in the host image. The receiver can regenerate this pattern by having a key that is the seed of a random number generator. After that if the correlation between this pattern and the image that is assumed to have the watermark is higher than a predefined threshold, it means that the watermark exists and vice versa. Here, we show the advantage of using the Julian set patterns as a watermark, instead of the commonly used pseudorandom noise pattern. Julian set patterns can be regenerated in receiver with few... 

Nowadays, exoskeletons have been gaining popularity due to their potential use in rehabilitation and augmentation. These robots often utilize series elastic actuators to facilitate compliant interaction with the human. Numerous studies have been carried out with the purpose of identification and control of these type of actuators. The goal of this paper is to provide a method for dynamic modeling and identification of series elastic actuators. This model is then used in the control loop as a feed-forward term to eliminate the actuator's dynamics. Each series elastic actuator used in the Sharif wearable robot, uses a brushless DC motor, a torsional spring, a harmonic drive, a timing belt, a... 

A hot gas generator is a compact heat exchanger that produces high temperature or enthalpy gases. This paper presents two methods for controlling the system. The first one is an adaptive sliding mode controller that is a Lyapunov based method and proposed to confront the dynamic modeling deficiencies and system uncertainties. The second one is a linear adaptive controller that gives a new attractive ability to the system which can track a complicated requested path. Each of the presented controllers has some capabilities that may be preferred to other. In this paper, these methods are extensively compared by several transient inputs. On the other hand, since heat exchangers are typically... 

This paper investigates several current control methods for load balancing and power factor correction based on distribution Static Compensator (STATCOM). Two different configurations are considered for STATCOM; a three leg inverter, and three single phase inverters. It is assumed that the STATCOM is associated with a load that is remote from the supply. After a brief introduction, control structure based on PWM method and simulation results using PSCAD are presented. Next, the same system is simulated using hystersis control method. Both methods employ the instantaneous symmetrical components theory for load balancing and power factor correction. At the end, a comparison between two methods... 

In This paper detailed frequency-domain system identification method is applied to identify steering dynamics of a naval coastal patrol vessel using a data analysis software tool, called CIFER. Advanced features such as Chirp-Z transform and composite windowing techniques are used to extract high quality frequency responses. An accurate, linear and robust transfer function models are derived for yaw and roll dynamics of the vessel. In addition, to evaluate the accuracy of the identified model, time-domain responses from a 45-45 zig-zag test are compared with the responses predicted by the identified model. The model shows excellent predictive capability that is well suited for simulation... 

This paper deals with the boundary control problem for a certain class of linear infinite-dimensional systems commonly known as fractional-delay systems. It is assumed that the systems under consideration are, in general, described by multi-valued transfer functions. In this paper, we restrict our studies to a class of multi-valued transfer functions which are defined on a Riemann surface with limited number of Riemann sheets where the origin is a branch point. The proposed controller design algorithm is based on shaping the sensitivity function. Contrary to many other methods which approximate the underlying infinite-dimensional system by a finite-dimensional one and then apply a classical... 

Model predictive controllers, due to their capability to control the time variant and delayed systems, are considered for congestion control in computer networks. To extend the application of these controllers as an active queue management (AQM) system in dynamic TCP/IP networks, a new rule-based predictive controller is proposed. This controller uses the small signal linearized fluid-flow model of the TCP/IP networks and simulates the future behavior of control system by applying few candidate control sequences. Using the extremes of the resulted predicted output sequences, optimal control signal is determined based on some appropriate rules. This approach benefits from the mentioned... 

This paper reports the design of an optimal controller to prevent suppressvertical vibration due to undesired out of plane excitations generated by environment or gripper during manipulation for a CMOS-MEMS Nano-Newton capacitive force sensor applied for biomedical applications. Undesired out of plane excitations generated by environment or gripper during manipulation is the most prevalent source of vertical vibration in this type of sensors. To suppress the vibrational movement a PZT 5A is used as actuation mechanism. Discrete element method DEM model and Modal analysis were used to find dominant natural frequencies and mode shape vectors. To eliminate out of plane excitation an optimal... 

This paper introduces an innovative adaptive controller based on the actor-critic method. The proposed approach employs the ink drop spread (IDS) method as its main engine. The IDS method is a new trend in softcomputing approaches that is a universal fuzzy modeling technique and has been also used as a supervised controller. Its process is very similar to the processing system of the human brain. The proposed actor-critic method uses an IDS structure as an actor and a 2-dimensional plane, representing control variable states, as a critic that estimates the lifetime goodness of each state. This method is fast, simple, and away from mathematical complexity. The proposed method uses the... 

The nonlinear model predictive control (MPC) approach is used to control the coupled translational-rotational motion of an all-thruster spacecraft when one of the actuators fails. In order to model the dynamical response of the spacecraft in MPC, instead of direct integration, a neural network (NN) model is utilized. This model is built of a static NN, followed by a dynamic NN. The static NN is used to find the changes of the mapping of “the demanded forces to the thrusters” and “the real torques/forces produced by the remaining thrusters” after the failure occurrence through online training. In this manner, the effect of failed thruster on the dynamics can be found and the need for... 

This paper introduces a cyber-physical system for building automation and control that is developed based on a distributed model predictive control. The implemented distributed method significantly reduces computation overhead with respect to the centralized methods. However, continuous data transfer between subsystems, which are often far from each other, is required when using this method. Information transmission between subsystems is very often subject to the limitations of transmission bandwidth and/or short communication range resulting in significant communication overhead. This causes significant time latency between making measurements and applying control commands, which adversely... 

This article addresses an adaptive backstepping control design for uncertain fractional-order nonlinear systems in the strict-feedback form subject to unknown input quantization, unknown state-dependent control directions, and unknown actuator failure. The system order can be commensurate or noncommensurate. The total number of failures is allowed to be infinite. The Nussbaum function is used to deal with the problem of unknown control directions. Compared with the existing results, the control gains can be functions of states and the knowledge of quantization parameters and characteristics of the actuator failure are unknown. By applying the backstepping control approach based on the... 

This article addresses an adaptive backstepping control design for uncertain fractional-order nonlinear systems in the strict-feedback form subject to unknown input quantization, unknown state-dependent control directions, and unknown actuator failure. The system order can be commensurate or noncommensurate. The total number of failures is allowed to be infinite. The Nussbaum function is used to deal with the problem of unknown control directions. Compared with the existing results, the control gains can be functions of states and the knowledge of quantization parameters and characteristics of the actuator failure are unknown. By applying the backstepping control approach based on the...