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kalman-filters
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Power System State Estimation Including PMUs and Traditional Measurement Instruments
, M.Sc. Thesis Sharif University of Technology ; Hosseini, Hamid (Supervisor)
Abstract
State estimation is a process in which values of unknown system state variables is obtained by considering measurements in such a system. State estimators’ output data are applied in control centers of power systems. Nowadays, using of phasor measurement unit (PMU) in WAMS (Wide Area Measurement Systems) and SCADA have significantly extended. PMUs increase the accuracy proportion compared with traditional measurement units, improve the power networks observability as well as detect and correct bad data. Since the possibility of removing the traditional measurement devices and replacing them with full PMU ones does not exist in the near future it is mandatory to find out an efficient and...
Satellite Attitude Estimation Using MEMS
,
M.Sc. Thesis
Sharif University of Technology
;
Pourtakdoost, Hossein
(Supervisor)
Abstract
This thesis deals with the attitude estimation based on low cost sensor for a micro satellite in a circular, low earth orbit (LEO) and sensor calibration. With two body problem theory and Quaternion formulation, rotational motion is modeled. In addition gravity gradient effect is considered on satellite orbital elements. Using a 3-axis MEMS-based magnetometer and a sun sensor as two measurement systems, low cost attitude estimation is proposed. Bias and Scale factor are presented to model deterministic sensor error and white Gaussian noise to model stochastic sensor error. It is shown that by sensor calibration the estimation accuracy will improve. Non-linear estimation methods EKF, SRUKF...
Design of a fault tolerated intelligent cntrol system for a nuclear reactor power control: Using extended Kalman filter
, Article Journal of Process Control ; Vol. 24, issue. 7 , 2014 , pp. 1076-1084 ; ISSN: 09591524 ; Salarieh, H ; Vosoughi, N ; Sharif University of Technology
Abstract
In this paper an approach based on system identification is used for fault detection in a nuclear reactor. A continuous-time Extended Kalman Filter (EKF) is presented, which allows the parameters of the nonlinear system to be estimated. Also a fault tolerant control system is designed for the nuclear reactor during power changes operation. The proposed controller is an adaptive critic-based neuro-fuzzy controller. Performance of the controller in terms of transient response and robustness against failures is very good and considerable
Gas metal arc welding process control based on arc length and arc voltage
, Article ICCAS 2010 - International Conference on Control, Automation and Systems, 27 October 2010 through 30 October 2010, Gyeonggi-do ; 2010 , Pages 280-285 ; 9781424474530 (ISBN) ; Haeri, M ; Doodman Tipi, A. R ; Sharif University of Technology
2010
Abstract
In this paper, we present a method to dynamically observe two important variables of a Gas Metal Arc Welding (GMAW) process, i.e. arc voltage and arc length. To do this, we use Kalman filter to estimate these two variables in a high level noisy environment of GMAW process both in open and closed loop modes
Modification of unscented kalman filter using a set of scaling parameters
, Article IET Signal Processing ; Volume 12, Issue 4 , 2018 , Pages 471-480 ; 17519675 (ISSN) ; Malaek, M. B ; Sharif University of Technology
Institution of Engineering and Technology
2018
Abstract
This work, based on the standard unscented Kalman filter (UKF), proposes a modified UKF for highly non-linear stochastic systems, assuming that the associated probability distributions are normal. In the standard UKF with 2n + 1 sample points, the estimated mean and covariance match the true mean and covariance up to the third order, besides, there exists a scaling parameter that plays a crucial role in minimising the fourth-order errors. The proposed method consists of a computationally efficient formulation of the unscented transform that incorporates N - 1, N ≥ 2, constant parameters to scale 2n(N - 1) + 1 sample points such that the 2Nth order errors are minimised. The scaling parameters...
Novel command to line of sight guidance with practical limitations
, Article Asian Journal of Control ; 2021 ; 15618625 (ISSN) ; Haeri, M ; Sharif University of Technology
Wiley-Blackwell
2021
Abstract
In this paper, a novel scheme of command to line-of-sight guidance law regarding the outstanding practical limitations is proposed. With the aid of formulating problem in pursuer's line of sight frame, the exact feed-forward acceleration commands are derived for a general target motion in three-dimensional engagement geometry. Then, a nonlinear control scheme constructed from feed-forward terms along with a nested saturated feedback strategy is suggested. Two momentous practical limitations are considered. The first is related to existence of pursuer's acceleration saturation which is ignored in all existing solutions. The required conditions to insure the global stability are derived...
Novel command to line of sight guidance with practical limitations
, Article Asian Journal of Control ; 2021 ; 15618625 (ISSN) ; Haeri, M ; Sharif University of Technology
Wiley-Blackwell
2021
Abstract
In this paper, a novel scheme of command to line-of-sight guidance law regarding the outstanding practical limitations is proposed. With the aid of formulating problem in pursuer's line of sight frame, the exact feed-forward acceleration commands are derived for a general target motion in three-dimensional engagement geometry. Then, a nonlinear control scheme constructed from feed-forward terms along with a nested saturated feedback strategy is suggested. Two momentous practical limitations are considered. The first is related to existence of pursuer's acceleration saturation which is ignored in all existing solutions. The required conditions to insure the global stability are derived...
A Wearable pedestrian localization and gait identification system using kalman filtered inertial data
, Article IEEE Transactions on Instrumentation and Measurement ; Volume 70 , 2021 ; 00189456 (ISSN) ; Rezaeizadeh, A ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2021
Abstract
In this article, we introduce a pedestrian dead reckoning (PDR)-based navigation device that does not require global navigation satellite system (GNSS) signals or beacons and works with an inertial measurement unit (IMU) mounted on its waist belt. The system identifies the individual by their walking pattern to use the proper gains in the computations, estimates the attitude by applying an unscented Kalman filter, and finally derives the position in three dimensions with the help of a step detection algorithm. The experimental results show an outdoor 4.7-km walk resulting in an error of 0.96%. © 1963-2012 IEEE
A new approach to real time optimization of the Tennessee Eastman challenge problem
, Article Chemical Engineering Journal ; Volume 112, Issue 1-3 , 2005 , Pages 33-44 ; 13858947 (ISSN) ; Boozarjomehry, R. B ; Pishvaie, M. R ; Sharif University of Technology
2005
Abstract
On-line optimization for the base case of the Tennessee Eastman (TE) challenge problem is presented; furthermore, an interesting operating condition near base case has been obtained, which results in a lower cost function. The proposed method is based on the estimation of the internal states and the time varying parameters of the process model based on an Extended Kalman filter. The sequential quadratic programming method has been used to accomplish the non-linear programming (NLP) task. The objective function is the operational cost while the constraints are the reactor mass balance, safe operation of the process equipment, and the conditions that satisfy the product quality and flow. The...
Filtering electrocardiogram signals using the extended Kalman Filter
, Article 2005 27th Annual International Conference of the Engineering in Medicine and Biology Society, IEEE-EMBS 2005, Shanghai, 1 September 2005 through 4 September 2005 ; Volume 7 VOLS , 2005 , Pages 5639-5642 ; 05891019 (ISSN); 0780387406 (ISBN); 9780780387409 (ISBN) ; Shamsollahi, M. B ; Jutten, C ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2005
Abstract
In this paper the Extended Kalman Filter (EKF) has been used for the filtering of Electrocardiogram (ECG) signals. The method is based on a previously nonlinear dynamic model proposed for the generation of synthetic ECG signals. The results show that the EKF may be used as a powerful tool for the extraction of ECG signals from noisy measurements; which is the state of the art in applications such as the noninvasive extraction of fetal cardiac signals from maternal abdominal signals. © 2005 IEEE
Agent Base Control of a Robotic Swarm with Sensor Noise Effects
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
The main objective of this project is to investigate modeling for a robotic swarm with suitable sensors and to analyze effect of sensory noise on the control and unity of the swarm. This project is an extension of analytical study done by S. Etemadi, A. Alasty and G. Vossoughi in Sharif University of technology. The flocking frame assumed to have a leader robot that controls over all behavior of the swarm made of agents’ robots with limited equipments and low intelligence that only obey some basic attraction and repulsion laws that will be explained. As an initial step of the analysis, we investigate proper physical model, sensors and navigation systems suitable to the model. Next, the...
On the general Kalman filter for discrete time stochastic fractional systems
, Article Mechatronics ; Volume 23 , Issue 7 , October , 2013 , pp. 764-771 ; ISSN: 09574158 ; Salarieh, H ; Alasty, A ; Meghdari, A ; Sharif University of Technology
Abstract
In this paper the derivation of Kalman filter for discrete time-stochastic fractional system is investigated. Based on a novel cumulative vector form model for fractional systems, a general Kalman filter is introduced. The validity of the proposed method has been compared with a previously presented method via simulation results. It is shown that this method can be better applied for discrete time stochastic fractional systems with slower dynamics
Spacecraft attitude and system identification via marginal modified unscented Kalman filter utilizing the sun and calibrated three-axis-magnetometer sensors
, Article Scientia Iranica ; Vol. 21, issue. 4 , 2014 , p. 1451-1460 ; Pourtakdoust, S. H ; Sharif University of Technology
Abstract
This paper deals with the problems of attitude determination, parameter identification and reference sensor calibration simultaneously. An LEO satellite's attitude, inertia tensor as well as calibration parameters of Three-Axis-Magnetometer (TAM) including scale factors, misalignments and biases along three body axes are estimated during a maneuver designed to satisfy the condition of persistency of excitation. The advanced nonlinear estimation algorithm of Unscented Kalman Filter (UKF) is a good choice for nonlinear estimation problem of attitude determination, but its computational cost is considerably larger than the widespread low accurate Extended Kalman Filter. Reduced Sigma Point...
Observer-based vibration control of non-classical microcantilevers using extended Kalman filters
, Article Applied Mathematical Modelling ; January , 2015 ; 0307904X (ISSN) ; Karami, F ; Salarieh, H ; Sharif University of Technology
Elsevier Inc
2015
Abstract
In non-classical micro-beams, the strain energy of the system is determined by the non-classical continuum mechanics. In this study, we consider a closed-loop control methodology for suppressing the vibration of non-classical microscale Euler-Bernoulli beams with nonlinear electrostatic actuation. The non-dimensional form of the governing nonlinear partial differential equation of the system is introduced and converted into a set of ordinary differential equations using the Galerkin projection method. In addition, we prove the observability of the system and we design a state estimation system using the extended Kalman filter algorithm. The effectiveness and performance of the proposed...
Spacecraft attitude and system identification using marginal reduced UKF utilizing the sun and calibrated TAM sensors
, Article Applied Mechanics and Materials, 21 November 2012 through 22 November 2012 ; Volume 225 , November , 2012 , Pages 417-422 ; 16609336 (ISSN) ; 9783037855065 (ISBN) ; Pourtakdoust, S. H ; Sharif University of Technology
2012
Abstract
This paper deals with attitude determination, parameter identification and reference sensor calibration simultaneously. A LEO satellite's attitude, inertia tensor as well as calibration of Three-Axis-Magnetometer (TAM) are estimated during a maneuver designed to satisfy persistency of excitation condition. For this purpose, kinematic and kinetic state equations of spacecraft motion are augmented for the determination of inertia tensor and TAM calibration parameters including scale factors, misalignments and biases along three body axes. Attitude determination is a nonlinear estimation problem. Unscented Kalman Filter (UKF) as an advanced nonlinear estimation algorithm with good performance...
Observer-based vibration control of non-classical microcantilevers using extended Kalman filters
, Article Applied Mathematical Modelling ; Volume 39, Issue 19 , 2015 , Pages 5986-5996 ; 0307904X (ISSN) ; Karami, F ; Salarieh, H ; Sharif University of Technology
Elsevier Inc
2015
Abstract
In non-classical micro-beams, the strain energy of the system is determined by the non-classical continuum mechanics. In this study, we consider a closed-loop control methodology for suppressing the vibration of non-classical microscale Euler-Bernoulli beams with nonlinear electrostatic actuation. The non-dimensional form of the governing nonlinear partial differential equation of the system is introduced and converted into a set of ordinary differential equations using the Galerkin projection method. In addition, we prove the observability of the system and we design a state estimation system using the extended Kalman filter algorithm. The effectiveness and performance of the proposed...
On-line nonlinear dynamic data reconciliation using Extended Kalman Filtering: Application to a distillation column and a CSTR
, Article Iranian Journal of Chemistry and Chemical Engineering ; Volume 28, Issue 3 , 2009 , Pages 1-14 ; 10219986 (ISSN) ; Mehrabani Zeinabad, A ; Bozorgmehry Boozarjomehry,R ; Sharif University of Technology
Abstract
Extended Kalman Filtering (EKF) is a nonlinear dynamic data reconciliation (NDDR) method. One of its main advantages is its suitability for on-line applications. This paper presents an on-line NDDR method using EKF. It is implemented for two case studies, temperature measurements of a distillation column and concentration measurements of a CSTR. In each time step, random numbers with zero mean and specified variance were added to simulated results by a random number generator. The generated data are transferred on-line to a developed data reconciliation software. The software performs NDDR on received data using EKF method. Comparison of data reconciliation results with simulated...
Comparison of ECG fiducial point extraction methods based on dynamic bayesian network
, Article 2017 25th Iranian Conference on Electrical Engineering, ICEE 2017, 2 May 2017 through 4 May 2017 ; 2017 , Pages 95-100 ; 9781509059638 (ISBN) ; Shamsollahi, M. B ; Jutten, C ; Sharif University of Technology
Abstract
Cardiovascular diseases are one of the major causes of mortality in humans. One way to diagnose heart diseases and abnormalities is processing of cardiac signals such as electrocardiogram (ECG) signal. In many ECG analysis, location of peak, onset and offset of ECG waves must be extracted as a preprocessing step. These points are called ECG fiducial points (FPs) and convey clinically useful information. In this paper, we compare some FP extraction methods including three methods proposed recently by our research team. These methods are based on extended Kalman filter (EKF), hidden Markov model (HMM) and switching Kalman filter (SKF). Results are given for ECG signals of QT database. For all...
Shoulder and elbow joint angle estimation for upper limb rehabilitation tasks using low-cost inertial and optical sensors
, Article Journal of Mechanics in Medicine and Biology ; Volume 17, Issue 2 , 2017 ; 02195194 (ISSN) ; Behzadipour, S ; Sharif University of Technology
World Scientific Publishing Co. Pte Ltd
2017
Abstract
This paper proposes a new method to improve accuracy and real-time performance of inertial joint angle estimation for upper limb rehabilitation applications by modeling body acceleration and adding low-cost markerless optical position sensors. A method based on a combination of the 3D rigid body kinematic equations and Denavit-Hartenberg (DH) convention is used to model body acceleration. Using this model, body acceleration measurements of the accelerometer are utilized to increase linearization order and compensate for body acceleration perturbations. To correct for the sensor-to-segment misalignment of the inertial sensors, position measurements of a low-cost markerless position sensor are...
Novel nested saturated feedback scheme for CLOS guidance via cubature Kalman filter
, Article 25th Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2018, 28 May 2018 through 30 May 2018 ; 2018 , Pages 1-6 ; 9785919950578 (ISBN) ; Haeri, M ; American Institute of Aeronautics and Astronautics (AIAA); et al.; Institute of Electrical and Electronics Engineers - Aerospace and Electronic Systems Society (IEEE AESS); International Public Association - Academy of Navigation and Motion Control (ANMC); National Research University ITMO; Russian Foundation for Basic Research ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2018
Abstract
To achieve an exact three-dimensional command to line of sight (CLOS) guidance law, a novel control scheme comprising feed-forward terms (to exactly compensate known kinematics) accompanied by an adaptive nested saturated feedback strategy is presented. A square-root cubature Kalman filter is designed as the CLOS non-linear guidance filter. Performance of the proposed guidance law is compared with the augmented proportional navigation (APN), at the absence and presence of target maneuvers, autopilot dynamics and non-ideal tracking filter. Simulation results demonstrate the satisfactory performance of proposed strategy. © 2018 Concern CSRI Elektropribor, JSC