Sharif Digital Repository

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode... 

The biped walking robot demonstrates a stable limit cycle on shallow slopes. In previous researches, this passive gait was shown to be sensitive to ground slope and initial conditions. In this paper, we discuss the feedback stabilization of a biped robot by the "energy shaping" technique. Two designs are proposed to reduce the sensitivity of the biped walking robot to slope and initial conditions. In the first design, a moving mass actuator is located on each link of the robot. The actuators are used to shape the potential energy of the biped robot so that it tracks the potential energy of a known passive gait of a similar biped robot on a different slope. Although the method is applied to a... 

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode... 

As a security principle, separation of duty (SoD) is widely considered in computer security. In the role-based access control(RBAC) model, separation of duty constraints enforce conflict of interest policies. There are two main types of separation of duty policies in RBAC, Static SoD (SSoD) and Dynamic SoD (DSoD). In RBAC, Statically Mutually Exclusive Role (SMER) constraints are used to enforce Static Separation of Duty policies. Dynamic Separation of duty policies, like SSoD policies, are intended to limit the permissions that are available to a user. However, DSoD policies differ from SSoD policies by the context in which these limitations are imposed. A DSoD policy limits the... 

A detection technique for extraction of total harmonics, individual harmonics, and reactive current components is introduced and its performance is evaluated. The detection algorithm is then adopted as part of the control system of a single-phase active power filter (APF) to provide the required signals for harmonic filtering and reactive power compensation. Performance of the overall system is evaluated based on digital time-domain simulation studies. The APF control system including the signal processing algorithms are implemented in Matlab/Simulink Fixed-Point Blockset to accommodate bit-length limitation which is a crucial factor in digital implementation. The power system including the... 

In this study, we have proposed a novel method investigates MR-Images for normal and abnormal brains which effected by Alzheimer's Disease (AD) to extract 336 number of different features based on texture analysis. Before applying this algorithm, we have to use a registration method because of variety in size of normal and abnormal images. Consequently, the output of Texture Analysis System (TAS) is a vector containing 336 elements that are features extracted from texture. This vector is considered as the input of the Artificial Neural Network (ANN) which is feed-forward one. The features extracted from the Gray-level Co-occurrence Matrix (GLCM) have been interpreted and compared with normal... 

Wireless infrared optical CDMA (W-OCDMA) is a new developing technique with some useful applications. Control and efficient use of optical power is a key issue in analysis and design of these systems. Also, multi user interference is a major source if impairment in these system. As a result, power control is a key issue in design and implementation of these systems. In this article we investigate a Dynamic Resource Management Algorithm (DRMA) as a framework, which employs power control to enable QoS in terms of reliability for multimedia traffic in W-OCDMA networks using Optical Orthogonal Codes (OOC's). A numerical method is also proposed to overcome computational difficulties of call... 

Two-degree-of-freedom (2-DOF) electrical machines require position sensors for their motion control. In comparison with using two independent sensors, using a 2-DOF sensor enhances the closed-loop control system's performance. However, due to the 3-D structure of the 2-DOF sensor, its performance evaluation needs 3-D analysis. Also, due to helical motion the accuracy deterioration of the sensor, under mechanical faults needs more attention. Although the finite element method (FEM) is the best way to simulate such sensors, most of the commercial packages for transient finite element simulations are not able to consider two separate motions simultaneously. Furthermore, FEM has a high... 

Developing efficient and appropriate modeling and control techniques for DC-DC converters is of major importance in power electronics area and has attracted much attention from automatic control theory. Since DC-DC converters have a complex hybrid nature, recently several techniques based on hybrid modeling and control have been introduced. These techniques have shown better results as compared with conventional averaging-based schemes with limited modeling and control abilities. But the current works in this field have not considered all possible dynamics of the converters in both continuous and discontinuous current modes (CCM, DCM) of operations. These dynamics are results of controlled... 

The feasibility of a novel system to reliably estimate the normalized central blood pressure (CBPN) from the radial photoplethysmogram (PPG) is investigated. Right-wrist radial blood pressure and left-wrist PPG were simultaneously recorded in five different days. An industry-standard applanation tonometer was employed for recording radial blood pressure. The CBP waveform was amplitude-normalized to determine CBPN. A total of fifteen second-order autoregressive models with exogenous input were investigated using system identification techniques. Among these 15 models, the model producing the lowest coefficient of variation (CV) of the fitness during the five days was... 

This paper deals with the coordinated control of rotor- and grid-side converters in wind turbines with doubly fed induction generators (DFIGs) to improve the low-voltage ride-through capability. The rotor-side converter control and additional equipment, called stator damping resistor, are used to limit the rotor inrush current and to reduce the oscillations and settling time of DFIG transient response during the voltage dip. Also, the grid-side converter is controlled to limit the dc-link overvoltage during the voltage drop. It is found that the dynamics of the grid-side converter and dc-link voltage exhibit nonminimum phase behavior, and thus there is an inherent limitation on the... 

A bilateral impedance controller is presented to enable robot-assisted surgery of a beating heart. For this purpose, two desired impedance models are designed and realized for the master and slave robots interacting with the operator (surgeon) and the environment (heart tissue), respectively. The impedance models are designed such that (a) the slave robot complies with the oscillatory motion of the beating heart and (b) the surgeon perceives the non-oscillatory portion of the slave/heart contact force at the master robot implying arrested-heart surgery. These performance goals are achieved via appropriate adjustment of the impedance model parameters without any measurement or estimation of... 

The Endurance Time (ET) method is a new dynamic pushover procedure in which structures are subjected to gradually intensifying acceleration functions and their performance is assessed based on the length of the time interval that they can satisfy required performance objectives. In this paper, the accuracy of the Endurance Time method in estimating average deformation demands of low and medium rise steel frames using ETASOf series of ET acceleration functions has been investigated. The precision of the ET method in predicting the response of steel frames in nonlinear analysis is investigated by considering a simple set of moment-resisting frames. An elastic-perfectly-plastic material model... 

A Takagi-Sugeno adaptive neuro-fuzzy inference system (TSFIS) model is developed and applied to a dataset of wellhead flow-test data for the Resalat oil field located offshore southern Iran, the objective is to assist in the prediction and control of multi-phase flow rates of oil and gas through the wellhead chokes. For this purpose, 182 test data points (Appendix 1) related to the Resalat field are evaluated. In order to predict production flow rate (QL) expressed as stock-tank barrels per day (STB/D), this dataset includes four selected input variables: upstream pressure (Pwh); wellhead choke sizes (D64); gas to liquid ratio (GLR); and, base solids and water including some water-soluble...