Adaptive neuro-fuzzy inference system in fuzzy measurement to track association

, Article Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME ; Volume 132, Issue 2 , 2010 , Pages 1-8 ; 00220434 (ISSN) Dehghani Tafti, A ; Sadati, N ; Sharif University of Technology

2010

Abstract

The main issue in a surveillance environment is the target tracking. The most important concern in this problem is the association of the various measurements with the existing target tracks. The fuzzy c-means data association (FCMDA) algorithm, based on the fuzzy c-means (FCM) algorithm, is an efficient solution for the problem of measurement to track association in a multisensor multitarget environment. It has a high accuracy in measurement to track association when targets are far from each other. However, its accuracy remains low when targets are close to one another. The FCMDA algorithm performance is usually lost in this environment, especially when measurement noise is high. In the...

Modified maximum entropy fuzzy data association filter

, Article Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME ; Volume 132, Issue 2 , 2010 , Pages 1-9 ; 00220434 (ISSN) Dehghani Tafti, A ; Sadati, N ; Sharif University of Technology

2010

Abstract

The problem of fuzzy data association for target tracking in a cluttered environment is discussed in this paper. In data association filters based on fuzzy clustering, the association probabilities of tracking filters are reconstructed by utilizing the fuzzy membership degree of the measurement belonging to the target. Clearly in these filters, the fuzzy clustering method has an important role; better approach causes better precision in target tracking. Recently, by using the information theory, the maximum entropy fuzzy data association filter (MEF-DAF), as a fast and efficient algorithm, is introduced in literature. In this paper, by modification of a fuzzy clustering objective function,...

A hybrid fuzzy adaptive tracking algorithm for maneuvering targets

, Article 2008 IEEE International Conference on Fuzzy Systems, FUZZ 2008, Hong Kong, 1 June 2008 through 6 June 2008 ; 2008 , Pages 1869-1873 ; 10987584 (ISSN) ; 9781424418190 (ISBN) Dehghani Tafti, A ; Sadati, N ; Sharif University of Technology

2008

Abstract

A new hybrid fuzzy adaptive algorithm for tracking maneuvering targets is proposed in this paper. The algorithm is implemented with fuzzy inference system (FIS) and current statistical model and adaptive Altering (CSMAF). The CSMAF algorithm is one of most effective methods for tracking the maneuvering targets. It has a higher precision in tracking the maneuvering targets with larger accelerations while it has a lower precision in tracking the maneuvering targets with smaller acceleration. In the proposed algorithm, to overcome the disadvantage of the CSMAF algorithm, the covariance of process noise CSMAF is adjusted adaptively by the output of a FIS. The input of the FIS is discrepancy of...

A novel adaptive tracking algorithm for maneuvering targets based on information fusion by neural network

, Article EUROCON 2007 - The International Conference on Computer as a Tool, Warsaw, 9 September 2007 through 12 September 2007 ; December , 2007 , Pages 818-822 ; 142440813X (ISBN); 9781424408139 (ISBN) Dehghani Tafti, A ; Sadati, N ; Sharif University of Technology

2007

Abstract

The current statistical model and adaptive filtering (CSMAF) algorithm is one of the most effective methods for tracking the maneuvering targets. However, it is still worthy to investigate the characteristics of the CSMAF algorithm, which has a higher precision in tracking the maneuvering targets with larger accelerations while it has a lower precision in tracking the maneuvering targets with smaller acceleration. In this paper a novel adaptive tracking algorithm for maneuvering targets is proposed. To overcome the disadvantage of the CSMAF algorithm, a simple multi-layer feedforward neural network (NN) is used By introducing NN, two sources of information of the filter are fused while its...

Novel adaptive Kalman filtering and fuzzy track fusion approach for real time applications

, Article 2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008, Singapore, 3 June 2008 through 5 June 2008 ; 2008 , Pages 120-125 ; 9781424417186 (ISBN) Dehghani Tafti, A ; Sadati, N ; Sharif University of Technology

2008

Abstract

The track fusion combines individual tracks formed by different sensors. Tracks are usually obtained by Kalman Filter (KF), since it is suitable for real-time application. The KF is an optimal linear estimator when the measurement noise has a Gaussian distribution with known covariance. However, in practice, some of the sensors do not have these properties, and the traditional KF is not an optimal estimator. In this paper, a novel adaptive Kalman filter (NAKF) is proposed. In this approach, the measurement noise covariance is adjusted by using an introduced simple mathematical function of one variable, called the degree of matching (DoM), where it is defined on the basis of covariance...

Investigation of Membrane Fouling in Submerged Membrane Electro-Bioreactor (SMEBR) with Iron Electrodes

, M.Sc. Thesis Sharif University of Technology Dehghani Tafti, Alireza (Author) ; Vosoughi, Manoochehr (Supervisor)

Abstract

This thesis presents the results of the performance of a novel technology called submerged membrane electro-bioreactor (SMEBR). The SMEBR treats wastewater by combining membrane filtration, electrokinetic phenomena, and biological processes in one reactor, and improves treatment performance while helping to control membrane fouling. The newly designed SMEBR system was based on applying an intermittent direct current (DC) field between immersed perforated electrodes around a membrane filtration module. The SMEBR system significantly reduced the fouling rate when iron worked as electrodes and an intermittent DC with an operational different mode was applied.
In Phase 1 of this project,...

Tolerance Design of Mechanical Parts Considering Degradation and Quality Loss in Manufacturing Process and Operating Conditions

, M.Sc. Thesis Sharif University of Technology Dehghani Tafti, Mohammad Saleh (Author) ; Khodaygan, Saeed (Supervisor) ; Asempour, Ahmad (Supervisor)

Abstract

The tolerance stack-up in mechanical assemblies is closely related to the quality of finished products and to the costs of production. In practice, choosing a large tolerance range will result in performance reduction. On the other hand, with small tolerances considered, production costs will increase. Tolerance allocation is a useful tool to control the dimensional and geometric variables of the product, so design engineers can control the final product quality level, production cost, and other variables. The proposed method for tolerance design considers the effects of degradation and quality loss over time and allocates tolerances so that, the functional key characteristic satisfies, as...

Frontal Plane Balance Control of a Biped Robot Based on Human Balancing Strategy

, M.Sc. Thesis Sharif University of Technology Dehghani Tafti, Mohammad Reza (Author) ; Farahmand, Farzam (Supervisor) ; Hoviattalab, Maryam (Supervisor)

Abstract

The capability to control and maintain upright posture is a fundamental requirement for humanoid robots. Although many control algorithms were successfully presented, it seems developing a new controller inspired from human balance strategy would greatly improve performance and reduce energy consumption. To study the control strategy used by human nerves system more precisely, a balancing exercise was designed and implemented. Five human subjects were asked to stand on an unstable tilting board and balance the board. Instantaneous Eulerian angles of body segments of human subjects were captured by utilizing Xsense orientation sensors. A humanoid robot standing on the tilting board was...

Design of Line Heating in Creation of Certain Curvature in Sheet Metal

, M.Sc. Thesis Sharif University of Technology Dehghani Tafti, Mojtaba (Author) ; Assempour, Ahmad (Supervisor)

Abstract

Metal sheets are widely used in different industries such as ship building and pressure vessels. One of the most important things in these industries is to create the desired sheets through line heating process. Designing the heating lines in order to get the desired shape with the sufficient accuracy has always been a concern for the engineers in this process. In this research, different methods of designing the heating lines for creating special surfaces are discussed. By integrating the two algorithms called distance based criterion method and angle based criterion method in MATLAB, the heating path and its parameters are defined. These two algorithms can be used in order to predict the...

Applications of Sparse Representation in Digital Image Inpainting

, M.Sc. Thesis Sharif University of Technology Dehghani Tafti, Zahra (Author) ; Babaiezadeh, Massoud (Supervisor)

Abstract

Image inpainting is the process of reconstructing lost parts of damaged images based on collected local information, or even general information, as prior knowledge. The image inpainting’s objective is to improve the damaged images, for example restoring missing pixels caused by folding, erasing background’s text in an image, removing watermarks from an image, or editing an image such as eliminating an object or a person from the image. The majority of the image inpainting algorithms approaches the problem by signal restoration from remaining samples or iterative methods to complete the damaged images. Algorithms based on samples, algorithms based on partial differential equations, and...

Interaction of Femtosecond Lasers with Molecule

, M.Sc. Thesis Sharif University of Technology Dehghani Tafti, Zeinab (Author) ; Sadighi Bonabi, Rasul (Supervisor)

Abstract

Using field assisted dissociation model and with a classic view the dissociation probability is calculated when it a molecule is exposed with a Ti:sapphire laser with wavenumber of 800nm and the energy of . using gradient optimization method we find a tailored two rectangular laser pulse for controlling the dissociation of C-H bond of . Using classical method reduced the complicacy of solving schrodinger equation. In our optimization method in contrast with the usual controlling method experimental data is not needed and this reduced the controlling costs.

Achievable Delay Margin by Using PID Fractional-Order Controllers

, M.Sc. Thesis Sharif University of Technology Afshari Saleh, Mohammad Hossein (Author) ; Tavazoei, Mohammad Saleh (Supervisor)

Abstract

This paper concerns the delay margin achievable using fractional order Proportional_Integral_Derivative controllers for linear time- invariant systems subject to variable, unknown time delays. The basic issue under investigation addresses the question: What is the largest range of time delay so that there exists a single fractional order Proportional_Integral_Derivative controller to stabilize the delay plants within the entire range? Delay margin is a fundamental measure of robust stabilization against uncertain time delays and poses a fundamental, longstanding problem that remains open except in simple, isolated cases. In this research, we develop explicit expressions of the exact delay...

Design of Fractional Order Controllers for Preservation of Phase Margin in the Presence of Parametric Uncertainties

, M.Sc. Thesis Sharif University of Technology Basiri, Mohammad Hossein (Author) ; Tavazoei, Mohammad Saleh (Supervisor)

Abstract

In the present thesis, first of all we consider a particular class of fractional order plants which have uncertainty in their time constant.In order to make the closed loop system robust against variations of the aforementioned parameter, a robust fractional order controller will be designed and the corresponding tuning rule will be expressed. By using the proposed controller, phase margin of the system will be preserved on a desired value for any value of the uncertain parameter and also gain crossover frequency of the system, in the nominal case, will be adjustable.Also another class of fractional order system will be considered. For these systems, the problem is the same as the former...

PLC Implementation of Fractional Order Controllers

, M.Sc. Thesis Sharif University of Technology Aghaee, Mehdi (Author) ; Tavazoei, Mohammad Saleh (Supervisor)

Abstract

In this thesis, various fractional order controllers (FOCs), e.g., FO-PID, FO-TID, CRONE and FO-Lead/Lag, are implemented using PLC. For this purpose first, several methods are used to approximate the differentiator and integral operators. Based on these methods, the equivalent rational transfer functions of the fractional order controllers are obtained. Then, using STEP7 software, the FOCs are implemented in Siemens PLC. Moreover, to facilitate the use of the implemented FOCs in the industry and to take full advantage of the controllers, WinCC software as an interface between human and machine (HMI) is used. The WinCC software enables the operator to access the PLC through a computer (PC)...

Study on Solution Existence in Tuning Fractional Order PD and PI Controllers

, M.Sc. Thesis Sharif University of Technology Badri, Vahid (Author) ; Tavazoei, Mohammad Saleh (Supervisor)

Abstract

In this study, some of robust and exact tuning methods for fractional order PD and PI controllers are investigated in order to extract their solution existence conditions. Using aforementioned methods needs solving a set of nonlinear equations to obtain desired controller parameters which satisfy the control objectives. Hence, one of the aims of this study is to find necessary and sufficient condition on tuning specifications which guarantee the applicability of the aforementioned methods. The achievable performance region of the methods is obtained through the extracted necessary and sufficient conditions. The other aim of this work is to investigate the uniqueness of the methods...

Conditions Derivation of Implementability of Fractional-Order Functions by Passive Electrical Networks

, M.Sc. Thesis Sharif University of Technology Sarafraz, Mohammad Saeed (Author) ; Tavazoei, Mohammad Saleh (Supervisor)

Abstract

Today, the fractional-order systems are widely used in the system identification and design and implementation of control systems. By production of electrical elements with fractional-order relationship between voltage and current of their terminals, implementation of fractional-order functions with passive elements is possible. Fractional order capacitors are one of these elements. It was shown that necessary and sufficient condition for the implementation of an integer order function by passive elements is positive realness of such a function.
Like systems with integer-order, in this thesis the aim is to find corresponding conditions for implementation of fractional-order functions...

Networked Cyber-Physical Dynamical Systems with Distributed Optimization-Based Missions

, Ph.D. Dissertation Sharif University of Technology Sarafraz, Mohammad Saeed (Author) ; Tavazoei, Mohammad Saleh (Supervisor)

Abstract

A new generation of physical and industrial systems is evolving towards communication and information technology as communication and information technologies progress. Cyber-Physical Systems, or CPSs, are physical systems situated in a cyber environment and use communication and information technology to improve efficiency. A CPS is an integrated synthesis of the principles of "control," "communication," and "computation" from an engineering point of view, attempting to provide a comprehensive framework in which all aspects of these three fields are covered. One of the capabilities of CPSs is the ability to deal with and implement a large scale system. A group of control missions in large...

The Effect of Village Councils on Environmental Degradation

, M.Sc. Thesis Sharif University of Technology Dehghani, Vahid (Author) ; Vesal, Mohammad (Supervisor)

Abstract

Destruction of green lands, especially forests, is one of the most common forms of environmental degradation. Meanwhile, political institutions can play an important role in protecting or destroying the environment, especially forests. The creation of town and village councils as a change in political institutions and decentralization can have an impact on the environment. Land use change, implementation of development projects and the task of overseeing the implementation of environmental protection laws are among the duties and powers of councils that affect the coverage of various areas. At different eras, town and village councils’ elections have been annulled or dissolved in a...

Fractional PI Tuning for the First Order Plus Dead Time Processes

, M.Sc. Thesis Sharif University of Technology Paridari, Kaveh (Author) ; Tavazoei, Mohammad Saleh (Supervisor)

Abstract

In this thesis, a new method has been developed for tuning of fractional PI ( ) and fractional [PI] ( ) controllers for the first order plus dead-time ( ) systems. By using the performance-map method ( ) and based on phase and gain margins' criteria, a formula which is function of fractional order ( ) and normalized dead-time ( ) has been proposed for the proportional and integral coefficients. In addition, an equation has been given for the fractional order of controller to minimize the integrated absolute error ( ) index. Moreover, overshoot and settling-time of the step response of the system have been improved by dynamic setpoint weighting. Simulation results have shown that proposed...

Analysis of Oscillations in Linear Fractional Order Systems

, M.Sc. Thesis Sharif University of Technology Siami, Milad (Author) ; Tavazoei, Mohammad Saleh (Supervisor)

Abstract

This thesis studies undamped oscillations generated by marginally stable fractional order linear time invariant (LTI) systems. In this study, the concept of integral curve is developed for fractional order LTI systems. The proposed concept is obtained based on equivalent integer order linear time varying (LTV) systems. Then, an analytical approach is proposed to be used for harmonic analysis of such oscillations in marginally stable commensurate order LTI systems. Also, it is shown that the Q-semi norm of the limit sets for a trajectory of these systems can be analytically determined based on the Q-semi norm of the initial condition, where Q is a specific matrix. Moreover, this result is...