Sharif Digital Repository

In this paper an efficient filtering procedure based on Extended Kalman Filter (EKF) has been proposed. The method is based on a modified nonlinear dynamic model, previously introduced for the generation of synthetic ECG signals. The proposed method considers the angular velocity of ECG signal, as one of the states of an EKF. We have considered two cases for observation equations, in one case we have assumed a corresponding observation to angular velocity state and in the other case, we have not assumed any observations for it. Quantitative evaluation of the proposed algorithm on the MIT-BIH Normal Sinus Rhythm Database (NSRDB) shows that an average SNR improvement of 8 dB is achieved for an... 

In this paper, we propose a novel method for extracting fiducial points (FPs) of the beats in electrocardiogram (ECG) signals using switching Kalman filter (SKF). In this method, according to McSharry's model, ECG waveforms (P-wave, QRS complex and T-wave) are modeled with Gaussian functions and ECG baselines are modeled with first order auto regressive models. In the proposed method, a discrete state variable called “switch” is considered that affects only the observation equations. We denote a mode as a specific observation equation and switch changes between 7 modes and corresponds to different segments of an ECG beat. At each time instant, the probability of each mode is calculated and... 

In this paper, a non-isothermal model of natural gas in pipelines including mass, momentum and energy balance equations are used as model equations for modeling and state estimation in gas pipeline systems. It is shown that differential equations describing the dynamic behavior of a high-pressure and long-distance gas transmission network (GTN) can be solved efficiently using the orthogonal collocation method. The issues corresponding to the presence of discontinuities in the dynamic model is substantially discussed and studied. The non-isothermal model of a GTN can experience discontinuities during transient operations, which causes challenges in simulation and state estimation in this... 

Finesmigration is a noticeable problem in petroleum-production engineering. Plugging of throats in porous media occurs because of detachment of fine particles from sand surfaces. Thus, the study of interactions between fines and pore surfaces and the investigation of governing forces are important factors to consider when describing the mechanism of the fines-release process. The main types of these forces are electric double-layer repulsion (DLR) and London-van der Waals attraction (LVA). It may be possible to alter these forces with nanoparticles (NPs) as surface coatings. In comparison with repulsion forces, NPs increase the effect of attraction forces. In this paper, we present new... 

Active disturbance rejection control (ADRC) is applied to a one-axis gimbal mechanism. The dynamic model of the system is derived and validated from mathematical modeling and practical experiments. Disturbances acting on the complete model of the gimbal mechanism are introduced via base lateral acceleration and angular motion. The ADRC is designed by utilizing an extended state observer for observing and suppressing the effects of external disturbances and internal parameter uncertainties. A PID controller is used to form a basis of comparison for set-point tracking and disturbance rejection performance. The effects of identification errors and observer bandwidth are experimentally... 

Active disturbance rejection control (ADRC) is applied to a one-axis gimbal mechanism. The dynamic model of the system is derived and validated from mathematical modeling and practical experiments. Disturbances acting on the complete model of the gimbal mechanism are introduced via base lateral acceleration and angular motion. The ADRC is designed by utilizing an extended state observer for observing and suppressing the effects of external disturbances and internal parameter uncertainties. A PID controller is used to form a basis of comparison for set-point tracking and disturbance rejection performance. The effects of identification errors and observer bandwidth are experimentally... 

In this paper, important issues that could come up in practice of Active Disturbance Rejection Control (ADRC) due to a common assumption and some inevitable practical restrictions are investigated. The main idea behind ADRC is modeling effects of both internal uncertainties and external disturbances as an extra state called the total disturbance which is timely estimated. In the majority of recent works, it is assumed that time derivative of total disturbance is bounded. First we prove that, beside the system characteristics, the validity of this assumption strongly depends on the tuning parameters, even in the case of simple classes of linear second order systems. Thus, one should be... 

In this study, the effects of stress-assisted heat treatment on the microstructure and phase transformation of a Ti-rich (Ti-49.52 at.% Ni) shape memory alloy were investigated. For this purpose, the alloy was heat treated at temperature of 500 °C for 10 h under applied stresses of 100 and 200 MPa. XRD, TEM, and repeated thermal cycling were employed to study the microstructure and transformation behavior of the heat-treated materials. Room temperature XRD diffractogram of the stress-free heat-treated material showed a weak reflection of austenite (B2), while that for the stress-assisted heat-treated materials had a high intensity implying the presence of residual austenite in the... 

In this study, a near equiatomic NiTi shape memory alloy was hot rolled at 800°C using thethickness reductions of 30 and 50%. Optical and transmission electron microscopy, together withX-ray diffraction were used to demonstrate the microstructural changes associated with the hotrolling at different thickness reductions. Repeated transformation cycling was employed toinvestigate the evolution of R phase during cycling. Microstructural observations revealed thepresence of deformation twins embedded in an elongated grain matrix in the hot rolled material.Moreover, it was found that with increasing degree of thickness reduction, the size and number ofdeformation twins increased throughout the... 

This paper considers the problem of high-performance global stabilization of an integrator chain via a bounded control at the presence of input disturbance. While nested saturated feedback (NSF) is known as the most inspiring existing solution in the literature, we shall highlight the inherent shortcomings of this approach which cause a poor performance in terms of convergence rate. Then, a novel dual-mode control scheme combining an improved NSF law with a linear matrix inequality (LMI)-based model predictive controller (MPC) is developed to overcome the weaknesses of pure NSF. By offline calculations, a set of nested robust invariant attraction regions and their attributed feedback gains... 

This paper deals with the robust finite time tracking of desired trajectories for a wide group of robotic manipulators in spite of unknown disturbances, uncertainties, and saturations of actuators while only manipulator's positions are available and its velocities are not measurable physically. A new form of chattering-free second order fast nonsingular terminal sliding mode control scheme is introduced to design input torques for fulfilling the determined tracking objective in the adjustable total finite settling time. The proposed control algorithm is incorporated with two nonlinear observers to estimate disturbances and velocities of joints within finite settling times. The global finite... 

The disguise of traditional monopolistic electricity markets into deregulated competitive ones has made 'price forecasting' a crucial strategy for both producers and consumers: for the producers, to maximize their profit and hedge against price volatilities and for the consumers to manage their utility. Electricity price forecasting has thus emerged as a progressive field of study and numerous researches have been conducted to improve and optimize the price forecast methods. This paper proposes a precise and computationally efficient method to perform price forecasting in deregulated power markets. A locally linear neuro-fuzzy model is developed for price forecasting. The model is trained by... 

Forecasting is a challenging problem in highly nonlinear dynamic systems. The main goal in development of forecasting models in complex systems is to produce a model that can accurately behave similar to the main system. In problems such as air pollution forecasting, the presence of uncertainties and nonlinearities affects the model's precision. In this paper, ozone concentration, which is well-known as an index for air pollution is forecasted using neuro-fuzzy models. Causal variables are integrated in the models in order to enhance the model's performance. The results are compared to a fuzzy logic approach to demonstrate reliability and accuracy of the proposed model using real observed... 

Analytical Jacobian, nonlinear least square and three layer artificial neural network models are employed to predict deformation of mouse embryos under needle injection, based on experimental data captured from literature. The Maximum Absolute Error (MAE), coefficient of determination ( R2), Relative Error of Prediction (REP), Root Mean Square Error of Prediction (RMSEP), NashSutcliffe coefficient of efficiency ( Ef) and accuracy factor ( Af) are used as the basis for comparison of these three models. Analytical Jacobian, nonlinear least square and ANN models have yielded the correlation coefficient of 0.9985, 0.9964 and 0.9998, respectively. The REP between the models predicted values and... 

In this study, neural network models have been used to predict the mechanical behaviors of mouse embryos. In addition, sensitivity analysis has been carried out to investigate the influence of the significance of input parameters on the mechanical behavior of mouse embryos. In order to reach these purposes two neural network models have been implemented. Experimental data earlier deduced-by [Flückiger, M. (2004). Cell Membrane Mechanical Modeling for Microrobotic Cell Manipulation. Diploma Thesis, ETHZ Swiss Federal Institute of Technology, Zurich, WS03/04]-were collected to obtain training and test data for the neural network. The results of these investigations show that the correlation... 

The trip demand information in the form of the origin-destination (OD) matrix is an essential input to the transportation studies. Obtaining such a matrix by conventional methods needs considerable amount of time, cost, and manpower. Since obtaining traffic volume data for the links of the transportation network is easy, recently many researchers have tried to obtain trip demand matrix by using this information. Among them, Spiess introduced the gradient method which is applicable for real large scale networks. The gradient method is an iterative procedure which starts from an initial O-D matrix and at each iteration tries to reach a matrix which generates flows closer to the observed flows...